Algorithm for Determining the Singularity-Free and Interference-Free Workspace of a Robotic Platform for Fruit Harvesting†

This paper proposes a robotic system for fruit harvesting, which includes a mobile platform with a fruit basket, on which a parallel platform is installed, and in the center of the moving platform a telescopic link is installed for harvesting fruit from trees. Numerical algorithms are developed for determining the workspace of platforms with a parallel structure, represented as an ordered set of integers, and for transferring constraints from the platform orientation coordinate space to the end-effector coordinate space. The limits of the workspace are the permissible ranges of rod lengths and the condition that there are no singularities or link interference. The results of modeling are presented.