采摘机器人开放式控制系统设计

在采摘机器人控制系统设计中引入开放式控制思想，采用分层控制作为控制系统的体系结构。硬件平台由PC104工控机和PMAC2—104多轴运动控制卡构成。控制软件划分为任务层、系统层和伺服层。在6自由度机器人平台上，以腕关节的旋转自由度为例，进行初步测试。测试结果表明，当比例增益为34000，微分增益为4200、速度前馈增益为680、加速度前馈增益为1000时，系统具有良好瞬态响应特性、定位精度和速度控制性能。

Open Architecture Control System of Harvesting Robot

The idea of an open architecture was introduced for design of a harvesting robot controller. An embedded computer PC104 and a multi-axis motion controller PMAC 2104 were chosen to build open architecture control system of harvesting r obot. The software architecture was divided into three layers, task layer system layer and servo layer. A newly developed 6DOF harvesting robot was used to test per formance of the open architecture control system. Taking the wrist as an example to adjust PID parameters. The experiment shows that the control system has a be tter transient performance and less position and velocity errors if PID paramete rs (proportional gain is 34 000, derivative gain is 4 200, forward feed of velocit y gain is 680 and forward feed of acceleration gain is 1000) are adjusted proper ly.