基于环境参数估计的月季采摘柔顺抓取研究  

Compliant Grasping for China Rose Harvesting Based on Estimation ofEnvironmental Parameters

作　　者：黄旺 曹鹏彬[1,2,3] 于宝成[4] HUANG Wang;CAO Pengbin;YU Baocheng(School of Mechanical&Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Hubei Key Laboratory of Chemical Equipment Intensification and Intrinsic Safety(Wuhan Institute of Technology),Wuhan 430205,China;Hubei Provincial Engineering Technology Research Center of Green Chemical Equipment(Wuhan Institute of Technology),Wuhan 430205,China;School of Computer Science and Engineering,Wuhan Institution of Technology,Wuhan 430205,China)

机构地区：[1]武汉工程大学机电工程学院,湖北武汉430205 [2]化工装备强化与本质安全湖北省重点实验室(武汉工程大学),湖北武汉430205 [3]湖北省绿色化工装备工程技术研究中心(武汉工程大学),湖北武汉430205 [4]武汉工程大学计算机科学与工程学院,湖北武汉430205

出　　处：《武汉工程大学学报》2023年第3期325-330,336,共7页Journal of Wuhan Institute of Technology

基　　金：国家自然科学基金(51875415)。

摘　　要：为了降低抓持力控制偏差,从而避免机器人柔顺抓取系统在采摘过程中损伤月季花梗,在传统阻抗控制基础上引入环境参数估计实现柔顺抓持力控制。通过梯度下降法在线估计弯曲刚度并修正参考位置以降低抓持力稳态误差。在MATLAB/Simulink中进行抓取系统仿真。结果表明:所使用的改进阻抗控制算法相对于传统阻抗控制算法能有效减小稳态误差,11个不同刚度参数花梗的抓持力上升时间都在0.42 s以内、超调量在20%以内。最后,实验验证了系统能实现低稳态误差的抓持力控制,能满足月季采摘的要求。To reduce the deviation of grasping force control so as to prevent the compliant grasping system of robot from damaging the China rose stems during the picking process,environmental parameters estimation was introduced on the basis of traditional impedance control to achieve compliant grasping force control.The bending stiffness was estimated online by the gradient descent method and the reference position was corrected to reduce the steady-state error of the grasping force.The grasping system simulation was carried out in MATLAB/Simulink.The results show that the improved impedance control algorithm can effectively reduce the steady-state error compared with the traditional impedance control algorithm.The rising time of the grasping force of 11 stems with different bending stiffness is within 0.42 second,and the overshoot is within 20%.Finally,experiment proved that the system can realize the grasping force control with low steady-state error,which can meet the requirements of China rose picking.

关 键 词：环境参数估计 柔顺抓取 阻抗控制 梯度下降法 

分 类 号：TH39[机械工程—机械制造及自动化]