| 除草机器人机械臂的逆向求解与控制 |
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| 引用本文： | 郭伟斌,陈 勇,侯学贵,胡 娜.除草机器人机械臂的逆向求解与控制[J].农业工程学报,2009,25(4):108-112. |
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| 作者姓名： | 郭伟斌 陈 勇 侯学贵 胡 娜 |
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| 作者单位： | 1. 南京林业大学机械电子工程学院,南京210037;中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016;中国科学院研究生院,北京100039
2. 南京林业大学机械电子工程学院,南京,210037 |
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| 基金项目： | 江苏省国际科技合作项目（BZ2005044）；教育部留学回国人员科研启动基金资助 |
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| 摘 要： | 设计了一种基于机器视觉导航和杂草识别的除草机器人模型，该机器人能沿作物行间自主行走并能准确地识别和“清除”杂草。设计了除草机器人的机械臂除草执行系统，求取了机械臂运动学逆解，用VC++开发了控制程序。试验显示，图像处理算法所需时间少，能够适应户外自然光线在一定范围的变化，机械臂能够平稳动作并精确定位杂草目标。
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| 关 键 词： | 机器人编程 机器视觉 运动学逆解 机械臂控制 除草 |
| 收稿时间： | 2007/1/31 0:00:00 |
| 修稿时间： | 2009/2/27 0:00:00 |
Inverse kinematics solving and motion control for a weeding robotic arm |
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| Guo Weibin,Chen Yong,Hou Xuegui and Hu Na.Inverse kinematics solving and motion control for a weeding robotic arm[J].Transactions of the Chinese Society of Agricultural Engineering,2009,25(4):108-112. |
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| Authors: | Guo Weibin Chen Yong Hou Xuegui and Hu Na |
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| Institution: | 1. College of Mechanical and Electronic Engineering;Nanjing Forestry University;Nanjing 210037;China;2. State Key Laboratory of Robotics;Shenyang Institute of Automation;Chinese Academy of Sciences;Shenyang 110016;3. Graduate School of the Chinese Academy of Sciences;Beijing 100039;China |
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| Abstract: | A weeding robot model based on machine vision was constructed. The robot could detect and remove weeds by walking autonomously along crop rows. The weeding robotic arm was designed and its inverse kinematics solution was analyzed. Computer programs for robot control were compiled. Experiments showed that the image processing algorithm was timesaving and robust for the lightness variation; the weeding robotic arm could move steadily and orient weeds precisely. |
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| Keywords: | robot programming computer vision inverse kinematics robotic arm control weeding |
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