Abstract

Modern kitchens involve many repetitious and arduous tasks that are currently completed with human labor. This paper presents a general purpose culinary preparation anthropomorphic robot to help people peeling spherical fruit. The trajectory of the end effector is designed to move along the skin of the spherical fruit. In addition, an obstacle avoidance algorithm is provided to solve the potential collision problems. Methodologies and results of simulation are presented and discussed. 

Keywords

Anthropomorphic robot, Trajectory planning, End effector, Obstacle avoidance, Automation, Affordable food, Rotating handle, Simulated fruit, Three-dimensional grid, Fixed precision, End-effector, Control algorithm, Anthropomorphic arm, Complex industrial robot, Upper-arm, A lower-arm, Geometry, MATLAB