基于PLC的苹果采摘机械手运动控制系统设计

以苹果采摘机械手运动控制为研究对象,对机械手进行运动学分析与建模,设计了基于PLC的机械手硬件框架与运动控制方案、人机交互上位机和机械手轨迹规划的实验系统。实验结果表明:采用PLC控制器的苹果采摘机械手软硬件均能正常运行,该系统具有可靠性高、实时性和稳定性好等优点,对于农业采摘机器人快速识别目标并进行正确采摘作业具有很大帮助。

Design of Control System for Apple Picking Manipulator Based on PLC

Taking apple picking manipulator motion control as the research object, it analyzed the modeling of kinematics of the manipulator, the manipulator design experiment system of hardware framework and PLC motion control scheme, human-computer interaction between computer and manipulator trajectory planning.The experimental results showed that based on the PLC controller of apple picking soft hardware to normal operation, the system has the advantages of high reliability, real-time and stability,which is of great help for the rapid identification of agricultural picking robot target and correct picking operation.