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Review of Research on Cooperative Picking Technology with Multiple Robotic Arms
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Ri-hong ZHANG1, De-zhao CHEN1, Rui-hua ZHANG1, Gui-chao LIN1, Xiang GAO2, Zhong XUE3, *
Science Technology and Engineering | 2025, 25(15) : 6155 - 6168
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Science Technology and Engineering | 2025, 25(15): 6155-6168
• Surveies·Agricultural Science •
Review of Research on Cooperative Picking Technology with Multiple Robotic Arms
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Ri-hong ZHANG1, De-zhao CHEN1, Rui-hua ZHANG1, Gui-chao LIN1, Xiang GAO2, Zhong XUE3, *
Affiliations
  • 1 College of Mechanical and Electrical Engineering, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China
  • 2 Guangdong Institute of Modern Agricultural Equipment, Guangzhou 510630, China
  • 3 South Subtropical Crops Research Institute, China Academy of Tropical Agricultural Sciences, Zhanjiang 524088, China
Published: 2025-05-28 doi: 10.12404/j.issn.1671-1815.2407105
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The efficiency, precision, and automation of fruit and vegetable picking are realized through the integration of multiple mechanical arms in multi-mechanical arm cooperative picking technology, effectively addressing the high costs and low efficiency associated with traditional manual picking methods. The research progress in multi-mechanical arm cooperative picking technology was summarized, and the framework of the multi-mechanical arm cooperative picking system was comprehended. In light of the decision-making challenges in cooperative picking, the cooperative methods and task allocation within cooperative picking task planning was analyzed, and the collision detection, obstacle avoidance strategies, and path planning techniques utilized in cooperative picking with multiple robotic arms was reviewed. The future development direction of multi-mechanical arm cooperative picking technology is outlined, with a proposed development trend that envisions the combination of machine and agronomy, human-machine collaboration, decision-making big models, and multi-algorithm fusion.

multiple robotic arms  /  task planning  /  path planning  /  obstacle avoidance
Ri-hong ZHANG, De-zhao CHEN, Rui-hua ZHANG, Gui-chao LIN, Xiang GAO, Zhong XUE. Review of Research on Cooperative Picking Technology with Multiple Robotic Arms[J]. Science Technology and Engineering, 2025 , 25 (15) : 6155 -6168 . DOI: 10.12404/j.issn.1671-1815.2407105
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Year 2025 volume 25 Issue 15
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Article Info
doi: 10.12404/j.issn.1671-1815.2407105
  • Receive Date：2024-09-23
  • Online Date：2025-07-09
  • Published：2025-05-28
Article Data
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History
  • Received：2024-09-23
  • Revised：2025-01-07
Funding
Affiliations
    1 College of Mechanical and Electrical Engineering, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China
    2 Guangdong Institute of Modern Agricultural Equipment, Guangzhou 510630, China
    3 South Subtropical Crops Research Institute, China Academy of Tropical Agricultural Sciences, Zhanjiang 524088, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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