模糊控制在采摘机器人控制优化中的应用  

The Application of Fuzzy Control in Control Optimization for Picking Robot

作　　者：苏红丽[1] Su Hongli(Liaoning Finance Vocational College,Shenyang 110122,China)

机构地区：[1]辽宁金融职业学院,沈阳110122

出　　处：《农机化研究》2021年第10期196-200,共5页Journal of Agricultural Mechanization Research

基　　金：辽宁省教育厅科学研究项目(JYT2019-05,JYT2019-02)。

摘　　要：为了实现果树果实的自动化采摘,基于视觉定位原理,设计了采摘机器人。采用模糊控制的方法,提高了机械手定位精度,进而提升果实采摘成功率。对机械臂进行运动学分析,建立采摘终端位置与控制舵机和推杆长度之间的关系。计算械臂末端果实采摘机构和目标果实在成像平面上的差值,采用小步长算法,将该差值调整为0,进而通过调整小臂长度实现采摘。采用模糊控制的方法,建立角位移偏差e和偏差变化率ec与3个模型调整量之间模糊规则,使舵机模糊控制模型具有自适应能力,提高控制精度,从而提高采摘成功率。Inorder to achieve automatic picking,based on visual locating,this picking manipulator was designed.Fuzzy control was used to improve location accuracy,and success rate of picking.Kinematic analysis was achieved for robotic arm,and the relationship between actuator,length of lower arm,and Picking terminal was achieved.Difference values between picking terminal coordinate and target fruit coordinate were calculated,and the difference values changed to 0 by small step algorithm.the fuzzy control was used,and the fuzzy rules between angular displacement deviation e and variation rate of deviation ec and three adjustment values of model were achieved.The model of fuzzy control,with adaptive ability,could improve control accuracy and success rate of picking.

关 键 词：采摘机器人 模糊控制 运动学分析 视觉定位 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]