采摘机器人机械臂的控制与联合仿真  

The Control and Co-simulation of Picking Robot Arm

作　　者：周舟[1] 王俊[2] 

机构地区：[1]中国科学技术大学自动化系 [2]合肥学院机器视觉与智能控制技术重点实验室

出　　处：《电子技术（上海）》2013年第1期60-62,38,共4页Electronic Technology

基　　金：安徽高校省级自然科学研究重点项目(KJ2010A292)

摘　　要：采摘机器人属于非结构环境下作业的特种机器人,果实的采摘易受环境变化的影响,机械臂的控制直接决定采摘机器人的作业效果。根据番茄的特点及其植株的生长分布,设计了具有平行结构关节的四自由度机械臂,实现了对机械臂各个关节的控制。使用ADAMS/Controls与MATLAB/simulink进行联合仿真,根据仿真结果,不断调节控制参数,实现了机械臂的运动规划和性能指标的优化。Agricultural picking robot is a kind of special robot working in non-structural environment, whose fruit picking process will be easily influenced by environment variation. The control quality of the arm determines the operating effect. Based on the characteristics and the distribution of tomato in the plant space, a robot arm with 4 degree-of-freedoms specified with one parallel linkage is designed. The servo control for the joints of the arm is realized. Co-simulation with ADAMS/Control and MATLAB/simulink is carried out. On this basis the controlling parameters are regulated continuously so as to realize the motion planning and the optimization of the property of the robot arm.

关 键 词：采摘机器人 四自由度 控制 仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]