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采摘机器人属于非结构环境下作业的特种机器人,果实的采摘易受环境变化的影响,机械臂的控制直接决定采摘机器人的作业效果。根据番茄的特点及其植株的生长分布,设计了具有平行结构关节的四自由度机械臂,实现了对机械臂各个关节的控制。使用ADAMS/Controls与MATLAB/simulink进行联合仿真,根据仿真结果,不断调节控制参数,实现了机械臂的运动规划和性能指标的优化。
Picking robots belong to special robots working under non-structural environment. The picking of fruits is easily affected by environmental changes. The control of robotic arm directly determines the working effect of picking robots. According to the characteristics of tomato and the growth distribution of the plant, a four degree-of-freedom manipulator with parallel structural joints was designed, which realized the control of each joint of the manipulator. Using ADAMS / Controls and MATLAB / simulink for joint simulation, according to the simulation results, the control parameters are continuously adjusted to achieve the motion planning and performance optimization of the manipulator.