Journal of the Chinese Society of Mechanical Engineers

CSME 2024/12
Volume 45 No.6 : 585-594

Research and Experimentation on Trajectory Optimization for Cotton-Picking Robot Arm

Liao Caiwen ^a, Hao Jiancheng ^b, Gulbahar·Tohti ^c, Orkin· Rahim ^d and Mamtimin·Geni ^e
^aGraduate Student，School of Mechanical Engineering, Xinjiang University, Urumqi, Xinjiang 830017,China
^bGraduate Student，School of Mechanical Engineering, Xinjiang University, Urumqi, Xinjiang 830017,China
^cAssistant Professor，School of Mechanical Engineering, Xinjiang University, Urumqi, Xinjiang 830017,China
^dAssistant Professor，Tacheng Special Equipment Inspection and Testing Institute, Tacheng, Xinjiang 834700, China
^eProfessor，School of Mechanical Engineering, Xinjiang University, Urumqi, Xinjiang 830017，China；and School of Mechanical and Electrical Engineering, Shihezi University, Shihezi, Xinjiang 832003, China.

Abstract: The cotton-picking robot, a vital tool in modern
agriculture, requires meticulous planning of its
manipulator's operational path to optimize harvesting
costs, quality, and efficiency. Addressing the issues of
operational efficiency, vibration, and impact generated
during the movement of the mechanical arm for longstaple cotton picking, this study introduces a timeoptimal trajectory planning strategy. Analyzing the
picking path, this article employ an S-shaped curve for
speed control, enabling flexible speed planning
methods like four, five, and seven-segment planning.
This ensures stable and efficient robot operation across
diverse scenarios. Integrating a fifth-order nonuniform B-spline curve with an improved particle
swarm algorithm further enhances trajectory planning,
significantly reducing interpolation time and
improving accuracy. Experimental results show an
average interpolation time of 0.24s, with a minimum
of 0.232s, representing a nearly twofold reduction
compared to traditional methods. This rapid and
efficient approach supports autonomous cottonpicking robot operation and serves as a reference for
trajectory planning in other agricultural robots.

Keywords: Cotton picking robot; Time optimal trajectory planning; Quintic nonuniform B-spline curve; Particle swarm optimization

*Corresponding author; e-mail:

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