Aiming at the problems of indiscriminate cutting of old and young tea leaves, crushing of tender buds, and mechanical damage to tea trees in the existing tea pickers, a teaplucking device with automatic cutter adjustment was designed in this paper. Based on the terrain parameters of sloped tea plantations and the mechanical properties of tea stems, the mechanical and structural parameters of the harvesting device were determined, enabling flexible tea harvesting by the cutter. Through kinematic and dynamic analysis of the plucking device, the kinematic equations for horizontal cutter adjustment and dynamic equations for cutter cutting angle adjustment were established, identifying the main factors influencing cutter motion as the counterforce of the tea stem on the cutter, crank length, rocker arm length, and hinge mounting length. By using torque equilibrium principles, the necessary and sufficient conditions for longitudinal cutter deflection were obtained, determining the counterforce range as 0-55.42N. Adams simulations of the horizontal cutter adjustment process were utilized to identify optimum crank length, rocker arm length, and hinge mounting length as 330 mm, 200 mm and 500 mm, respectively.

In order to improve the performance of welfare breeding equipment for cattle and sheep grazing on grassland, an intelligent drinking water temperature control system for livestock breeding based on multisensor insitu data detection and fuzzy PID control is developed. The system is mainly composed of data acquisition module, water injection heating module, temperature control module and remote data monitoring module. The data acquisition module uses a variety of sensors to collect the water temperature, water quality, water volume and other information in the drinking water device in real time. The water injection heating module adopts the form of bottom water injection heating, which facilitates the laminar flow of water temperature from bottom to top and makes the water temperature distribution more uniform. The temperature control module adopts the fuzzy PID control algorithm based on closed loop negative feedback, which can selfadjust the PID coefficient to achieve accurate water temperature control. The remote data monitoring module is designed for users, so that users can observe the working conditions of drinking water devices in real time. The fuzzy PID temperature control test and water temperature field uniformity test verification and simulation analysis were carried out for the device. The test results showed that the fuzzy PID temperature control effect was smoother and the heating response speed was faster than the conventional PID temperature control effect. When the preset water temperature target temperature was 23 ℃ and the inlet water temperature was 7℃, 9℃, 11℃, 13℃ and 15 ℃ respectively, the maximum fluctuation of the actual heating temperature and the target temperature was only 0.3 ℃. By heating different temperature measuring points, the maximum temperature difference of different temperature measuring points on the same horizontal plane is 0.3 ℃, the temperature difference of water in different sections of the water tank is less than 0.2 ℃, and the water temperature at the temperature measuring points of the device can be accurately controlled at (23±0.5)℃. The experiment shows that the water temperature field of the drinking water temperature control device is uniform and can provide equipment support for welfare breeding.

In order to overcome the problems of single function, limited transmission distance and high power consumption for pig body feature monitoring module, a pig body feature monitoring and abnormal diagnosis system with lowpower intelligent ear tag as the acquisition terminal was designed. The system took the wireless microcontroller as the hardware core, combined the pig body temperature, heart rate, motion sensing sensors, the wireless sensor network composed of Lora and GPRS technology and cloud server to construct a monitoring platform with pig body feature information collection, health evaluation and abnormal diagnosis and monitoring, which improved  the intelligent management level of pig breeding process. The test results showed that the system  operated stably, and could collect, transmit, display and query pig body feature parameters and abnormal behaviors in real time. The relative error of body temperature was less than 1%, the relative error of heart rate was less than 5%, the packet loss rate of communication network was less than 5%, the transmission distance was greater than 3 km, and the result of behavior identification was greater than 90%, which met the actual use needs of small and mediumsized pig farms. It can provide scientific basis for abnormal diagnosis, early disease detection and treatment and epidemic prevention of live pigs.

In order to address the issues of low operational efficiency and high energy consumption in the hammer mill, a response surface optimization design was conducted for its operational parameters. Initially, the optimal working parameters of the mill were optimized, and an analysis was performed on the impact of spindle speed, return pipe diameter, feed rate, screen aperture, and material water content on productivity, power consumption, and particle size. Subsequently, a response surface design analysis was carried out using test data to determine and validate the optimal combination through experimentation. Ultimately, the optimum working parameter combination for the crusher is determined as follows: spindle speed at 2700 r/min, return tube diameter at 57 mm, feed rate at 0.25 kg/s, material water content at 10%, and screen aperture at 6 mm. Compared with the single factor optimal evaluation index, the productivity increased by 4.36%, the power consumption decreased by 3.23%, and particle size reduced by 23.21%.

In largescale modern intelligent livestock and poultry breeding, due to the uneven distribution of temperature in livestock and poultry houses and the low efficiency of sensor data collection, it is impossible to comprehensively, accurately and timely reflect the change of temperature in livestock and poultry houses. To improve the performance of temperature monitoring system in livestock breeding, a realtime fusion strategy of layered wireless sensor network (WSN) was proposed in this paper. The WSN designed by this strategy is divided into two layers. Firstly, the temperature data collected by the bottom sensor is preprocessed by an improved unscented Kalman filter (IUKF). Then, the fusion center uses the improved dung beetle algorithm to optimize the nuclear Extreme Learning machine (IDBOKELM) for realtime fusion of the preprocessed temperature data. The experimental results show that the improved unscented Kalman filter in data preprocessing can effectively suppress noise interference in livestock and poultry houses, overcome abnormal and divergent phenomena in collected data. In terms of multisensor data fusion, the IDBOKELM algorithm established in this article has an accuracy of 99.15% in the training set and 98.12% in the test set, respectively. Compared to the original algorithm, the accuracy is improved by 6.98%, and the data fusion time is 3.36 s, ensuring the efficiency and accuracy of temperature monitoring in poultry houses while reducing computational time.

Aiming at the influence of greenhouse environmental factors on cherries, a set of automatic environmental monitoring device for large cherry greenhouse was designed to collect environmental parameter values in the greenhouse to provide digital early warning support and control plan for cherry cracked fruit. Based on the environmental parameter values, the correlation analysis was used to obtain the environmental parameter characteristics with strong correlation with the cracked fruit in the shed. Secondly, the sliding window method was used to generate the input environment features into a time series matrix form. Then, a prediction model integrating the GAAttentionLSTM algorithm was proposed to accurately predict the environmental parameters in the shed. Finally, SPSS data analysis software was used to analyze the environmental parameters and fruit splitting rate of different greenhouses. The average absolute error of the proposed prediction model with GAAttentionLSTM algorithm was 0.112 and the mean squared error was 0.087, which was 12.80% and 9.72% higher than that of the LSTM network model, and the prediction accuracy of environmental parameters was higher, and a set of scientific cherry environmental parameter value ranges was obtained, which could provide strong support for the prediction model for the digital early warning of cherry split fruit.

Rural revitalization cannot be separated from the popularization and application of agricultural mechanization, but farmers still face diversified risks in the process of agricultural mechanization, and the management mode of agricultural machinery insurance is in urgent need of optimization. This paper analyzed the practical basis for the choice of agricultural machinery insurance operation mode from the aspects of agricultural geographical conditions, regional economic development level and agricultural insurance market development, and sorted out the typical models of Japan and other countries or regions, and further aimed at the main problems existing in the agricultural machinery insurance operation mode in China. The optimization suggestions are put forward from the aspects of expanding the insurance scope, strengthening the policy attribute of agricultural machinery insurance, strengthening the publicity and unified management, strengthening the toplevel design and infrastructure construction.

 The longterm existence of small farmer household is the reality of agricultural development in China, and the improvement of the degree of peasant household organization is of great significance to the development of modern agriculture. At present, the regional specialization pattern of traditional Chinese medicine industry in Longxi County has been formed, but the industrial organization mode based on market random type leads to the low degree of peasant household organization. Therefore, taking the farmers of traditional Chinese medicine in Longxi County as the investigation object, and relying on the regional specialized production pattern of traditional Chinese medicine, based on 223 samples of pharmaceutical farmers data, the multivariate ordered Probit model is used to analyze the factors that affect the degree of farmers organization, and to discuss how farmers participate in the operation of industrial organizations. The results show that whether farmers carry out land transfer, whether they participate in order agriculture, whether they can obtain loans, the ways to purchase agricultural materials, the input fees for agricultural machinery, whether they have participated in planting technical training, and their satisfaction with institutions or organizations in the promotion of production technology, the importance of signing contracts or cooperation with cooperatives (or enterprises) to their own production, whether signing contracts or cooperation with cooperatives (or enterprises) can increase income and other factors, it can significantly affect the degree of peasant household organization.

 Chinese herbal medicine (CHM) is one of the characteristic industries in Gansu Province. In recent years, the national industrial policy has shifted to characteristic industries. The area of Chinese medicinal plants in Gansu Province is increasing year by year. Planting CHM has become an effective way for the vast rural areas and farmers to get rid of poverty and become rich. The demand for the mechanization of the whole process of CHM production is increasing. Through literature review and field investigation, this paper summarizes the current situation of mechanization research and application from the aspects of tillage, planting, management, harvesting and other operational links, combined with the key cultivation agronomic techniques of authentic Rhizome Chinese herbal medicines such as Angelica sinensis, Codonopsis pilosula and Astragalus membranaceus. The problems existing in mechanized production were analyzed. Such as the planting area of CHM was mostly hilly and mountainous, which was scattered and small. There were many varieties of Rhizome Chinese herbal medicines and the planting methods, and cultivation agronomic requirements were more complex, so it was difficult to integrate agricultural machinery and agronomy. There was poor operation quality of CHM equipment in key links, the rate of return on investment was low, and farmers enthusiasm for purchasing was not high. The existing CHM equipment had low technical content, lack of innovation, and was easy to be copied, and enterprises had low enthusiasm for the mechanized research and development of CHM. This paper puts forward the future trends of largescale development of Chinese medicinal materials industry, standardized development of planting mode, highquality and efficient development of key link machinery and tools, and leading development of Chinese medicinal materials machinery production enterprises, in order to provide reference for the research and development of CHM production equipment, and help the further development of CHM industry.

Agricultural mechanization is an important symbol of agricultural modernization, and agricultural mechanization cannot be separated from green development. Reducing the fossil energy consumption of agricultural machinery and upgrading the clean energy consumption of electricity is an important direction for Chinas agricultural machinery to move towards the green road. Based on Chinas interprovincial panel data, the electric kinetic energy share of agricultural machinery is selected to characterize the greening of agricultural machinery, and the impact and mechanism of digital financial inclusion on the green transformation of agricultural machinery are empirically examined. The research results show that digital inclusive finance significantly increases the electric kinetic energy share of agricultural machinery in China, and the breadth of coverage, depth of use, and degree of digitalized payment of digital inclusive finance all promote the green transformation of agricultural machinery. For regions with insufficient agriculturerelated financial expenditures, the regulating effect of digital inclusive finance in promoting the greening of agricultural machinery is more obvious, indicating that digital inclusive finance has made up for the financial gap of agriculturerelated finance, and promotes the green transformation of agricultural machinery through the mechanism of financial complementarity. For economically backward regions and regions with higher intensity of environmental regulation, the effect of digital inclusive finance in promoting the green transformation of agricultural machinery is also more prominent.

The promotion of soybean and corn strip compound planting mode is one of the important measures to revitalize domestic soybeans and increase oil production capacity, which can effectively alleviate the difficulties of Chinas soybean dependence on foreign countries and high import pressure. Based on the analysis of the promotion and implementation of soybean and corn strip compound planting mode in southwest China, Huanghuaihai and northwest China in 2022, this paper summarizes the current status of mechanized technology and equipment for soybean and corn strip compound planting in each region. It is proposed that the problems faced by the mechanization of soybean and corn strip compound planting mainly include the lack of special tools for herbicide spraying and harvesting, the serious shortage of existing available production equipment, the low quality of mechanical operation, poor applicability, and nonstandard operation of machine operators. In view of the existing technical problems, the phased development suggestions of mechanization technology and equipment for soybean and corn strip compound planting production in China are put forward, and the method of first partial and then all, easy and then difficult is gradually promoted, first solving the problem of mechanization in Huanghuaihai and northwest China, and then conducting research and development for hilly and mountainous areas to realize the whole process of mechanization in most parts of the country, and finally comprehensively using electronic information and sensor technologies such as autonomous navigation assistance driving technology, autonomous avoidance technology and remote sensing telemetry technology to improve the mechanization technology level of machine tools. It provides a reference for promoting the comprehensive mechanization and highquality development of Chinas soybean and corn strip compound planting mode.

The Vshaped plough trenchless pipe laying machine provides strong engineering support for concealed pipe drainage and salt control technology. In order to solve the problem that the trenchless pipe laying machine will tilt at a faster speed during construction, resulting in a large swing range of the mount frame and a reduction in the horizontal detection accuracy of the lower control arm behind the mount frame. By analyzing the structure of trenchless pipe laying machine and the mathematical model of control mechanism, an adaptive compensation level detection method based on risk control is proposed. The algorithm uses Kalman filtering algorithm to obtain two groups of detection values: the horizontal inclination of the frame and the horizontal inclination of the rear lower control arm of the mount. Through the control structure characteristics of trenchless pipe laying machine, the relationship between the two groups of horizontal inclination is determined. Then, the longitudinal acceleration of the rear lower control arm is used to assess the risk of the horizontal detection accuracy of the rear lower control arm. According to the assessed risk, the two groups of detection values are adaptively weighted to obtain more accurate horizontal inclination information. The static test results showed that the maximum fluctuation amplitude in the front and rear directions was 0.858°, the maximum fluctuation amplitude in the left and right directions was 0.778°. This system could meet the testing requirements of trenchless pipe laying machine. The dynamic detection test showed that this method could obtain the effective target tilt angle 10.8 s ahead of the original method. The maximum fluctuation between the detected inclination and the target angle was 0.69°, and the fluctuation range was small. This method improves the dynamic level detection accuracy and speed of the rear lower control arm.

In recent years, the growing global demand for Chinese herbal medicine (CHM) has led to a continually increase in planting area under CHM, and the demand for harvesting machines for Rhizome Chinese herbal medicine (RCHM) enlarges. At present, the harvesting methods of RCHM in China are still mainly manual harvesting and small & mediumsized excavator harvesting. The low level of mechanization and low production efficiency have seriously restricted the development of CHM industry. This paper briefly describes the current situation of planting CHM in China, and comprehensively analyzes the application and current situation of harvesting mechanization of RCHM, as well as focus on the research on the key components of excavation mechanical structure, separation mechanical structure and conveying mechanical structure. The main existing problems of RCHM harvester is summarized: the integration of agricultural machinery and agronomy is insufficient, the enthusiasm for developing combine harvesters is not high, lack of systematic research on harvest rate and damage rate, and lack of research on intelligent regulation technology of harvesting operation. This paper expounds lowconsumption and deepexcavation technology, flexible and low loss technology and intelligent control technology are the future development trend of mechanization of RCHM in China. In order to provide reference for the research of RCHM harvesters, so as to promote the further development of harvesting mechanization of RCHM.

In the process of green tea killing and frying, the structural parameters and rotation speed of the drum, the core component of the green tea killing and frying machine play a key role in the curl forming of green tea. In order to optimize the structural size of the drum of the drum type green killing and frying machine and formulate the processing parameters conducive to the curl forming of tea, a kinematic analysis method of tea particles in the process of tea killing and frying was proposed, The kinematic equation of tea particles was deduced, and the kinematic simulation was carried out based on EDEM software. Then the theoretical calculation results and simulation results under different drum speeds were analyzed and compared. The simulation results verified the correctness of the kinematic model of tea particles at the speed of the conventional green killing process. Through the research, the optimized drum structural parameters and improved production process were obtained. The inclination angle of the guide vane plate was adjusted to 15°, and the drum speed of tea frying was adjusted to first kill the green at 25 r/min, and then form at 40 r/min. The research provided a theoretical reference for the subsequent optimization of the key structural dimensions of the drum and the optimization of green tea killing process parameters.

 The construction of socialized agricultural service is one of the main contents of the process of agricultural modernization in China, which plays an important supporting role in solving the hot issues of agriculture, rural areas, and farmers, such as the organic connection between small farmers and the development of agricultural modernization and the cultivation of new agricultural management subjects. Under the background of rural revitalization, the research on socialized agricultural service has become the focus of scholars attention. By combing the existing research results, it is found that the establishment of agricultural socialized service cooperatives in China has achieved certain results, the scope of agricultural services has increased, and the service model and service subjects show a diversified trend. It is concluded that there are some problems in socialized agricultural service, such as low efficiency of government management, lack of targeted policies, slow construction of new agricultural socialized service system, low level of service, imbalance of personnel structure, and shortage of professionals in the socialized agricultural service system. Socialized agricultural service organization capacity is insufficient, and service supply is not balanced. For this reason, it is put forward that the construction of socialized agricultural service in China should develop to optimize the government management system, perfect the agricultural socialized service system, speed up the training of new talents, and strengthen the ability of service organization. It is pointed out that the future construction of socialized agricultural service should strengthen academic discussion and practice in the aspects of service content, basic theory, and small farmersresearch.

At present, the domestic demand for potato bulk loading equipment is large, and there are widespread problems such as low efficiency, high potato damage rate, high operating cost, and low degree of automation. Therefore, the comprehensive use of mechanical, hydraulic, and electronic control technology determine the structure of the lifting and conveying system and hydraulic system, electrical system parameters, and the design of a low damage, highefficiency potato loading machine. The loading machine adopts a threelevel folding lifting mechanism, equipped with flexible loss reduction potato conveyor belt, mechanical action by hydraulic cylinder, and hydraulic motor to achieve, with photoelectric sensor and ultrasonic sensor, so that the machine can operate automatically according to the set range of material height. Finally, the production rate, the rate of potato damage, the rate of broken skin, and the rate of machine failure were used as evaluation indexes to carry out field validation tests of the prototype. The test results showed that the loading machine can meet the loading requirements. The productivity after loading can reach 52 t/h, the rate of potato damage can be controlled below 1.0%, the rate of broken potato skin can be controlled below 1.5%, and the failure rate of the machine was 2.10%.

Sugarbeet is one of the major sugar crops in the world. China, as a sugarbeet producer leading the world in planting area and output, promoting the development of domestic sugarbeet production industry, which is significant to main tainand promote the prosperity of world’s sugar market. This article takes the agronomic technology of sugarbeet cultivation, planting, field management, harvesting and other production links as the starting point, focusing on the analysis and summary of the mechanical structure, working principle and existing problems of the frontier production equipment of sugarbeet at home and abroad. It is recommended that the cultivation method be universalized. Diversified sowing methods, refined field management, and combined harvesting methods are the main research directions for sugarbeet production machinery in the future, and expecting on the basis of deepening the understanding of mechanization of sugarbeet production, to provide support and assistance for promoting the domestic sugarbeet production mechanization process.

 Aiming at the problems of low automation and low efficiency of beet combined harvester,the hydraulic system of sugar beet combined harvester was designed, and the composition and working principle of the hydraulic system were introduced. Through theoretical analysis and calculation, the main parameters and selection of hydraulic components of the hydraulic system were determined. The test results showed that the design of the hydraulic system was reasonable and usable. The temperature of the working system rose to 62.3 ℃ after 3 hours, the temperature of the operating system rose to 55.6 ℃ after 3 hours, the pressure of the front pump circuit of the working system was 12.5 MPa, the pressure of the back pump circuit of the working system was 13.5 MPa, and the extension time of the loading arm was 15.6 s. The harvest test showed that the combine had stable and reliable performance and high operation efficiency, with an impurity rate of 4.9%, a loss rate of 3.0%, and an operating efficiency of 1.08 hm2/h. All the results values were in line with relevant standards.

In order to solve the problems of high soil moisture content in strawberry planting season in the middle and lower reaches of Yangtze River, such as Jiangsu and Anhui, easy slippage of traditional strawberry ridge machines, insufficient ridge height, low efficiency, and single function, a tracked selfpropelled strawberry ridging and fertilizing machine was developed. The machine was powered by the rubber crawler chassis. It adopted furrow setting for soil cultivation, ridge forming device for soil gathering, and the comprehensive ridge raising technology for ridge copying and suppression. It used the layer fertilizing device to complete the layer fertilizing operation of the ridge body. Through theoretical analysis and 3D modeling, the structural parameters of key components such as rotary tillage ditching device, ridge copying suppression device, and layer fertilization device were determined. The static fertilizer discharge performance test and field operation performance test of the machine were carried out. The test results showed that the coefficient of variation of consistent fertilizer discharge of each row was 4.32%, and the coefficient of variation of total fertilizer discharge stability was 3.45%. The average ridge height was 352 mm, the average ridge spacing was 943 mm, and the application alignment accuracy was 11 mm. The surface of the ridge body was smooth, and the furrows were clean, which can realize rotary tillage, ridge raising, and precise stratified fertilization of the ridge body in the opposite position and meet the agronomic requirements of strawberry ridge raising fertilization.

In order to improve the quality of pig breeding environment and behavior recognition rate, and overcome the problems of low recognition efficiency, poor accuracy, and high labor intensity in largescale breeding using manual inspection of abnormal behavior characteristics of live pigs and monitoring of breeding environment parameters, an intelligent monitoring system for pig health breeding based on the orbital robot was designed. The system consisted of an FPGA controller as the hardware core, combined with pig body surface characteristics and environmental sensing sensor, intelligent control, image processing, and wireless communication technology to construct a panoramic and local twolevel linkage monitoring platform for abnormal behavior and abnormal environment of pigs. The omnidirectional observation, identification, and data collection functions of abnormal pig behavior and environmental parameters improved the intelligent management level of the pig breeding process. The experimental results showed that the system can automatically and quickly collect the growth, behavior characteristics, and breeding environment information of individual pigs in the selected pig house according to the preset instructions. The abnormal behavior recognition rate reached 93.5%, and the parking positioning accuracy error was ±12 mm. The research was conducive for technical personnel to quickly and accurately obtain information about the growth environment and health status of pigs and provide a scientific basis for timely regulation of abnormal environments, rapid diagnosis of abnormal behaviors, disease prevention, and early warning of pigs.

 In order to adapt to the development trend of precision agriculture and improve the accuracy of the yield measurement system, a set of impulse yield measurement systems was developed. The impulse sensor module, Beidou module, DTU transmission module, and upper computer were included in the system. The information of the impulse sensor was collected and sent to the upper computer through CAN communication. On the upper computer, the yield data was filtered by the IMMUKF algorithm, and then the grain yield was obtained according to the calibration curve. Through the vehicle noload test, IMMUKF algorithm, KF, and UKF algorithm were used for comparison and verification. The results showed that the IMMUKF algorithm has a better filtering effect, and the mean square deviation is 0.000 42 N. Through the calibration test of the sensor, the relationship between the detection value of the sensor and the actual grain weight was determined. After the field yield test, the yield map of each field was made. The test results show that the average error of the yield measurement system was 3.911%.

 The variable application technology aims to improve the utilization rate of pesticides, reduce agricultural costs, appropriately reduce the amount of pesticides, reduce pesticide residues, and reduce environmental pollution. It is an important topic in precision agriculture and the development direction of pesticide application technology. This paper summarizes the field information collection method, the variable application control method, and the variable application control algorithm in the key technology of variable application. Firstly, the field information acquisition technology based on geographic information technology and realtime sensor technology is explained. The second analysis includes variable pressure regulation, chemical concentration regulation, and pulse width modulation variable application control methods and analyzes the advantages and disadvantages of each control method. Pulse width modulation has broad application prospects because of its better dynamic response characteristics and flow regulation performance. Finally, the most important variable application control algorithms (fuzzy control algorithm, PID control algorithm, and BP neural network) are summarized and researched. It is understood that the combination and improvement of different algorithms improve the variable application control performance. Aiming at the problems of domestic variable application technology, suggestions are made to provide a certain reference for the development and promotion of variable application technology in my country.

The droplet size is an important indicator of performance evaluation of plant protection spray and work quality machinery. It is the key technical parameters to achieve pesticides zero-growth and precision spraying. The study of best biological particle size in pesticide use and the study of immersion models and fog droplets evaporation deposition models are related to the size of the fog droplet size. This paper summarizes the various fog droplets test techniques. The fog droplet diameter of Φ0.3 mm, Φ0.7 mm, Φ1.0 mm, Φ1.3 mm, and Φ1.6 mm are measured and evaluated. Analysis of the sources of uncertainty during the measurement process were performed. The results show that when the inclusion probability is 95%, the minimum expanded uncertainty of the measurement results is 6.63%, the maximum expanded uncertainty is 9.18%, and the average expanded uncertainty is 7.38%. The laser particle size analyzer is accurate and reliable in measuring the particle size of the droplets, which can meet the needs of the droplet particle size testing of plant protection machinery.

To simulate the palletizing robot product line for tea caddy sorting, an optimal controller with a fastcontinuous nonsingular terminal sliding mode control strategy was proposed. After designing a threedimensional model of the product line, the dynamical model of the palletizing robot was deduced through the Lagrangian equation, which was clarified the inputs and outputs of the system. Then, an artificial intelligence algorithm called glowworm swarm optimization algorithm was used for trajectory planning. The fifthorder polynomial interpolation method and NUBRS curve were introduced to smooth the trajectories (i.e., referenced trajectories). Furthermore, a fastcontinuous nonsingular terminal sliding mode control strategy was designed to accelerate the convergence of the state variables in the system, which can improve the trajectory tracking precision in joint space. Lastly, series of simulation cases were conducted to test the proposed method. The results show that the proposed controller had a higher control performance than the sliding mode and backstepping controllers. The glowworm swarm optimization algorithm could help the robot obtain optimal joint trajectories of 0.37 s. The proposed controller could retrain the lumped torques and ensure the trajectory tracking precision in joint space.