fig5

Figure 5. Screw coordinate systems of the harvesting robot. (A) Initial configuration of the positioning mechanism; (B) Initial configuration of the picking mechanism. O_S⁽¹⁾ - X_S⁽¹⁾Y_S⁽¹⁾Z_S⁽¹⁾ and O_S⁽²⁾ - X_S⁽²⁾Y_S⁽²⁾Z_S⁽²⁾ denote the base coordinate frames of the positioning mechanism and the picking mechanism, respectively; O_b⁽¹⁾ - X_b⁽¹⁾Y_b⁽¹⁾Z_b⁽¹⁾ and O_b⁽²⁾ - X_b⁽²⁾Y_b⁽²⁾Z_b⁽²⁾ denote the coordinate frames of the positioning base point and the end-effector (gripper) reference point, respectively.