With the development of agricultural robot , the degree of intelligent control is rising .When the PMAC was used for controlling , the motion program buffer of PMAC was not enough to execute whole programs .Because the motion programs were too much .This paper aimed at solving the problem of big motion program while over loading .Inverse ki-nematics of the picking robot was analyzed and the rotary buffer was used .When the rotary buffer of PMAC could load motion program and cover the run motion program , result showed the motion program could be run , which had bigger sto-ring space than motio...
