基于DSP的三自由度采摘机械手控制系统研究  

Research on the Control System of Three Degree of Freedom Picking Manipulator Based on DSP

作　　者：史亚贝[1] Shi Yabei(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2022年第2期34-38,共5页Journal of Agricultural Mechanization Research

基　　金：2021年度河南省高等学校重点科研项目(21B460002);2020年度校级青年骨干教师培养计划项目(202003)。

摘　　要：通过对采摘机械手进行运动学分析,针对采摘机器人运动控制难度大这一问题,设计了基于DSP的三自由度采摘机械手控制系统,并从硬件和软件等方面搭建了系统平台。MatLab仿真结果表明:采摘机械手在控制系统的驱动控制下,可以准确从起点运动到终点,且轨迹比较圆滑,可以到达预期目标,满足采摘机器人作业需求,证实了该方法的可行性。Through the analysis of the picking manipulator kinematics,aiming at the problem of the difficulty of the picking robot motion control,it designs and studies the three degree of freedom picking manipulator control system based on DSP,and builds the system platform from the aspects of hardware and software.Matlab simulation results show that the picking manipulator can accurately move from the starting point to the end point under the driving control of the control system.And the trajectory is relatively smooth,which can reach the expectation,meet the needs of the picking robot,prove the feasibility of the method.

关 键 词：采摘机械手 运动控制 DSP 三自由度 

分 类 号：S225.93[农业科学—农业机械化工程]