苹果采摘机器人手臂控制研究  

Research on controlled system of apple picking robot arm

作　　者：张志勇[1] 何东健[1] 张建锋[1] 黄铝文[1] 姬红卫 

机构地区：[1]西北农林科技大学信息工程学院,陕西杨凌712100 [2]中国水电建设集团第十五工程局,西安710016

出　　处：《中国农业大学学报》2008年第2期78-82,共5页Journal of China Agricultural University

基　　金：国家星火计划项目(2005EA850034)

摘　　要：为解决苹果采摘机器人机械手臂控制的稳定性问题,基于拉格朗日力学原理建立了机器人手臂数学模型,设计了机器人手臂控制器。根据控制需要将机器人手臂的控制区域化分为伸展区域和采摘区域:伸展区采用基于正弦和斜坡函数的控制策略向机器人手臂系统输入能量,以保证机械人手平滑地到达采摘区;采摘区采用线性模型分析机器人手臂在该区附近运动规律,判断系统的可控性,设计出线性模型的二次最优控制策略(LQR)。仿真结果表明:该控制器使得苹果采摘机器人手臂到达采摘区后的稳定时间≤2 s,满足控制器设计的精度要求,可完成自然光照下对成熟苹果的采摘。Aiming at the instability of an apple picking robot arm in the course of picking, a mathematic model was constructed based on the Lagrange mechanical equation and a controller of apple picking robot arm was designed. The controlling area of robot was divided into a picking section and an outspreading section. In the outspreading section, the energy was input into the robot arm following the strategy of a sinusoidal waveform and a ramp functions, by which the picking robot arm could reach the picking section smoothly. In the picking section, a liner model was adapted to analyze and judge the system controllable character and a linear quadratic regulator was designed. The simulation result shows that the system stable time is no less than 2 seconds after the robot arm reaches the picking section , which can meet the accuracy of controller and the ripe apples can be picked effectively under the condition of natural illumination.

关 键 词：苹果机器人手臂 拉格朗日 采摘 LQR控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]