Inverse kinematics solving and motion control for a weeding robotic arm

A weeding robot model based on machine vision was constructed. The robot could detect and remove weeds by walking autonomously along crop rows. The weeding robotic arm was designed and its inverse kinematics solution was analyzed. Computer programs for robot control were compiled. Experiments showed that the image processing algorithm was timesaving and robust for the lightness variation; the weeding robotic arm could move steadily and orient weeds precisely.