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This paper presents the kinematic analysis of a designed end-effector for a plum-picking robot. The study includes solving both the direct and inverse kinematics problems to determine the position and orientation of the gripper relative to the end-effector’s base. The kinematic analysis is performed using Rodrigues’ transformation formula, ensuring an accurate representation of rotational motion. All robot parameters are derived from the designed model in SolidWorks, providing a realistic basis for the mathematical model. In addition, a workspace analysis is performed to evaluate the reachability and efficiency of the robotic system in the fruit picking process. The results obtained offer insight into the capabilities of the system and contribute to the optimization of robotic harvesting by ensuring precise motion control.

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Kinematic Modeling of the End-Effector of a Plum-Picking Robot Using the Rodrigues’ Rotation Formula

  • 会议论文

  • 发表日期：

    2025年

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  • Uroš Ilić,
  • Mihailo Lazarević,
  • Ilija Stevanović,
  • Aleksandar Rodić

摘要

This paper presents the kinematic analysis of a designed end-effector for a plum-picking robot. The study includes solving both the direct and inverse kinematics problems to determine the position and orientation of the gripper relative to the end-effector’s base. The kinematic analysis is performed using Rodrigues’ transformation formula, ensuring an accurate representation of rotational motion. All robot parameters are derived from the designed model in SolidWorks, providing a realistic basis for the mathematical model. In addition, a workspace analysis is performed to evaluate the reachability and efficiency of the robotic system in the fruit picking process. The results obtained offer insight into the capabilities of the system and contribute to the optimization of robotic harvesting by ensuring precise motion control.