OPENTECHNICAL PUBLICATION
OT-2026-000002350

Autonomous operation decision-making method of picking manipulator

Published: 2026-09-15T19:12:25.574672Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002350
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

The present application relates to the technical field of manipulators and
provides an autonomous operation decision-making method of a picking
manipulator. The autonomous operation decision-making method of a picking
manipulator includes: acquiring sample images of fruits and branches and
constructing a plurality of virtual scenes, where each virtual scene includes
a picking manipulator model, a fruit model, and a branch model; in the virtual
scene, determining azimuths of a target picking point and a target picking
plane of an end effector model as parameters and inputting the parameters to a
reward function; performing reinforcement learning training on the picking
manipulator in the plurality of virtual scenes according to the reward
function to determine an optimal picking action function; and controlling the
picking manipulator to execute a picking task in an actual environment
according to the optimal picking action function.

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OpenTechnical publication OT-2026-000002350
Published 2026-09-15T19:12:25.574672Z
https://opentechnical.org/p/OT-2026-000002350