Robotic arms in precision agriculture: A comprehensive review of the technologies, applications, challenges, and future prospects

•This paper introduced the functional role of robotic arms in precision agriculture.•This paper summarized the hardware and software technologies of agricultural robotic arms.•This paper presented the application of robotic arms in various agricultural environments, including greenhouses, fields, and orchards.•This paper discussed the challenges and future prospects of robotic arms in precision agriculture. In precision agriculture, robotic arms exhibit significant technical advantages, such as enhancing operational precision and efficiency, reducing labor costs, and supporting environmental sustainability. This paper provides a comprehensive overview of the application of ground-based robotic arms in precision agriculture, analyzing the hardware and software aspects and current application status across various agricultural settings, and discussing challenges and prospects in this field. First, this paper explores precision agriculture and agricultural robotic arms, highlighting their critical roles in enhancing agricultural efficiency and automation. Further, it addresses the challenges plaguing the practical applications of robotic arms and compares innovative robotic arm technologies with traditional models to establish a foundation for understanding these advancements in modern agriculture. Additionally, this paper analyses the hardware of robotic arms, including rigid and flexible manipulators, drivers, end-effectors, sensors, and controllers, emphasizing the importance of innovation and optimization for improved performance. For the software systems, this paper focused on classic workflows and advanced algorithms for perception, motion planning, and control, as these are essential for the precise and adaptable functioning of robotic arms in diverse agricultural environments. Furthermore, this paper reviews the research and application status of robotic arms across various settings, including greenhouses (e.g., ground planting, desktop planting, and vertical planting), fields (e.g., dry fields, moist, and paddy fields), and orchards (e.g., fruit tree orchards, vineyard orchards, and ground-level orchards) to demonstrate their broad applicability and efficient operational capabilities in diverse conditions. Lastly, this paper discusses the challenges and prospects of robotic arms, emphasizing the significance of integrating disciplines, such as agronomy and biomimetics, big data, artificial intelligence, digital twinning, and human–machine interaction