苹果采摘机器人末端执行器抓持规划研究  

Research on grasping planning for end-effector of apple-harvesting robots

作　　者：罗大伟[1] 姬伟[1] 李俊乐[1] 赵德安 

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013 [2]机械工业设施农业测控技术与装备重点实验室,江苏镇江212013

出　　处：《信息技术》2015年第1期44-46,49,共4页Information Technology

基　　金：江苏省博士后基金资助项目(1102110C);东南大学复杂工程系统测量与控制教育部重点实验室开放课题基金(MCCSE2013A03);江苏省高校优势学科建设工程资助项目(苏政办发〔2011〕6号)

摘　　要：针对苹果采摘机器人末端执行器抓持过程缺乏通用、有效的规划,现对三手指末端执行器与苹果的接触过程进行了研究。将稳定性归结为内力汇交多边形的存在性和内力汇交节点的位置。以汇交多边形的最大内切圆圆心为内力作用线的交点,求出各内力的关系和满足摩擦锥约束的内力,避免了复杂的运算。最后算例说明了方法的可行性。Planning for apple-harvesting robot for end-effector gripping process lacked common and effective research,the process of three-finger end-effector contact with apple is presented in the paper. The stability of the grasping attributed to the existence of a concurrent polygon and the concurrent node position of internal forces in the concurrent polygon, treat the center of maximal inscribed circle in concurrent polygon as the intersection of three internal force line, concluded the size relationship between various internal forces and find the internal forces to meet the friction cone constraints, avoids complex operations. Finally, a example illustrates the feasibility of the method.

关 键 词：苹果采摘机器人 抓持规划 柔顺控制 

分 类 号：TN242[电子电信—物理电子学]