During the replanting operation of a seedling tray, the end-effector needs to repeatedly grab the qualified plug seedlings in the supply tray and release them to the target tray for replanting, and in the process of grasping, the end-effector may cause some mechanical damage to the plug seedlings, thus affecting their quality. Therefore, in order to be able to adjust the position of the hand claw grasping point according to the morphological characteristics of the plug seedlings and select the optimal grasping point, this paper proposes research on the optimal grasping angle algorithm for plug...
