基于冗余控制策略的采摘机器人设计

针对采摘控制系统精度较低、采摘效率不高的问题,基于冗余控制策略设计了采摘机器人,主要由传感器模块、远程控制模块、控制器模块、执行器模块和中央控制器组成。从冗余度机器人自运动的角度、构造性能指标和自运动变量,对机器人的运动功能变量进行优化和控制,提高对机器人的关节控制。对采摘机器人进行试验,结果表明:机器人可以完成对果蔬的采摘,且保证果蔬表皮的完整性。

Design of the Harvesting Robot Based on Redundant Control Methods

Aiming at the problem of low accuracy of the control system and low efficiency of the harvesting robot,a harvesting robot was designed based on redundant control methods.The harvesting robot was constituted of sensor module,remote monitoring module,controller module,actuator module and central controller.To improve the control of the robot joint,construct the performance index and self-motion variable,optimize the movement variables of the robot from the point of redundant robot.After experiment with robots,the test results show that the harvesting robot could complete the harvest and keep the skin intact.