基于VR仿真的秧苗移栽机精准控制研究  

Research on Precision Control of Seedling Transplanter Based on VR Simulation

作　　者：刘玉倩[1] 宋舒晗 Liu Yuqian;Song Shuhan(Zhengzhou Railway Vocational and Technical College,Zhengzhou 451460,China)

机构地区：[1]郑州铁路职业技术学院,郑州451460

出　　处：《农机化研究》2023年第11期209-212,共4页Journal of Agricultural Mechanization Research

基　　金：河南省高等教育教学改革研究与实践项目(2019SJGLX711)。

摘　　要：对秧苗移栽机工作过程进行分析,利用VR虚拟现实技术建立秧苗移栽机虚拟仿真系统,并采用VR虚拟现实环境中的Falcon控制器对秧苗移栽机控制系统进行仿真,实现秧苗移栽机正运动学和运动学方程逆解进行解耦,从而为秧苗移栽机的精准化控制提供输入参数。仿真数据表明:VR虚拟现实环境所得秧苗移栽机执行机构运动曲线与实际运动曲线偏差值小于0.67mm,表明利用VR虚拟现实环境可实现秧苗移栽机的精准化控制过程仿真。This paper analyzes the working process of seedling transplanter,establishes the virtual simulation system of seedling transplanter by VR using virtual reality technology,simulates the control system of seedling transplanter by using Falcon controller in VR virtual reality environment,and decouples the forward kinematics and inverse kinematics equation of seedling transplanter,So as to provide input parameters for precision control process of seedling transplanter.The simulation results show that the deviation between the motion curve of the actuator and the actual motion curve is less than 0.67mm,which indicates that the precision control process simulation of the seedling transplanter can be realized by using VR virtual reality environment.

关 键 词：秧苗移栽机 VR虚拟现实 精准控制 运动误差 

分 类 号：S233.92[农业科学—农业机械化工程]