采摘机器人机械手虚拟现实和仿真技术研究  

Research on Virtual Reality and Simulation Technology of Picking Robot Manipulator

作　　者：刘芹[1] Liu Qin(Shandong Institute of Commerce&Technology,Jinan 250103,China)

机构地区：[1]山东商业职业技术学院,济南250103

出　　处：《农机化研究》2021年第11期24-28,共5页Journal of Agricultural Mechanization Research

基　　金：山东省教育教学研究课题(2018JXY1090)。

摘　　要：为了提高采摘机器人机械手群体作业的效率和精度,基于蚁群算法,将机器人虚拟仿真平台引入到了采摘机器人机械手的设计上,并利用C语言流程图编程,对采摘机械手、待采摘果实等进行了建模,在虚拟现实环境中对机械手的作业情况进行了仿真模拟。通过模拟结果对采用蚁群算法和不采用蚁群算法时机器人机械手的作业效率和采摘定位精度进行了对比,结果表明:采用蚁群算法可以明显提高机器人机械手的作业精度和作业效率。In order to improve the efficiency and accuracy of the robot manipulator group work,based on ant colony algorithm, it introduced the robot virtual simulation platform into the robot manipulator design, and the robot manipulator and the fruit to be picked are modeled by C language flow chart programming.Then, it simulated the operation of the manipulator in the virtual reality environment.Through the simulation results,it compared the operation efficiency and picking positioning accuracy of robot manipulator with ant colony algorithm and without ant colony algorithm.The comparison results show that it can significantly improve the operation accuracy and efficiency of robot manipulator by using ant colony algorithm.

关 键 词：采摘机器人 虚拟现实 仿真平台 蚁群算法 C语言 

分 类 号：S225[农业科学—农业机械化工程] TP391.9[农业科学—农业工程]