What question did this study set out to answer?

This research aims to develop a real-time trajectory planning framework for a strawberry harvesting manipulator that adheres to kinematic and dynamic constraints.

June 21, 2026Mechanics Based Design of Structures and Machines

Real-time trajectory planning for a strawberry harvesting manipulator under kinematic and dynamic constraints

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Authors

ISInas SaoudAbdelmalek Essaâdi University ACAsaad ChahbounAbdelmalek Essaâdi University NRNaoufal RaissouniAbdelmalek Essaâdi University

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Implication

Randomized trial evaluates time-optimal trajectory planning in strawberry harvesting manipulators, suggesting efficient real-time control.

Key Points

This research aims to develop a real-time trajectory planning framework for a strawberry harvesting manipulator that adheres to kinematic and dynamic constraints.
Integrated a jerk-continuous trajectory planning method within a unified optimization formulation.
Employed a 15-phase sinusoidal jerk model and solved using the Interior Point Optimizer (IPOPT) in the CasADi framework.
Evaluated performance under three scenarios with varying joint displacements.
Produced smooth and synchronized trajectories that met all kinematic and dynamic constraints.
Achieved motion durations ranging from 0.51 to 2.45 seconds with computation times between 0.23 and 0.62 seconds.
Confirmed real-time feasibility by maintaining computation times below 1 second in all scenarios.

Cite This Study

Saoud et al. (2026) studied this question.

synapsesocial.com/papers/6a377f3a24f042ddf4c59de8 https://doi.org/10.1080/15397734.2026.2679088

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Implication

Randomized trial evaluates time-optimal trajectory planning in strawberry harvesting manipulators, suggesting efficient real-time control.

Real-time trajectory planning for a strawberry harvesting manipulator under kinematic and dynamic constraints

Discussion

Member takes

Implication

Key Points

Cite This Study

Real-time trajectory planning for a strawberry harvesting manipulator under kinematic and dynamic constraints

Discussion

Member takes

Implication

Key Points

Cite This Study

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