*4.3. Establishment of Broccoli-Picking Control System*

The control system of the picking test stand is composed of a manipulator with six degrees of freedom, a control cabinet, an underactuated manipulator, a stepper motor, and a stepper motor controller. The schematic diagram of the control system of the picking test stand is shown in Figure 12.

**Figure 12.** Diagram of the broccoli-picking test stand system.

The motion trajectory of the mechanical arm was planned in advance, and the motion path and posture of the robot arm were determined directly through the demonstrator to facilitate the determination of the position of the broccoli. In this way, the clamping and unloading time of the manipulator was set to 2.5 s, and the speed of the stepper motor was adjusted to 60 r/min. The picking test was carried out in the picking test environment without interference.
