采摘机器人机械手避障方法研究——基于遗传优化和模糊PID控制器  

Research on Obstacle Avoidance Method of Picking Robot Manipulator Based on Fuzzy PID Controller——Based on Genetic Optimization

作　　者：王娜[1] 孟庆辉 魏宏飞[1] Wang Na;Meng Qinghui;Wei Hongfei(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》2024年第4期203-206,共4页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关计划项目(212102210372)。

摘　　要：为了提高采摘机器人机械手移动的自动化程度,使其在移动过程中有效避开障碍物,将基于PID控制器的避障系统引入到了机械手的设计上,并采用遗传算法和模糊算法对控制器进行了优化,提高了机械手移动的准确性和平稳性。模拟采摘机器人机械手的作业环境,对机械手的避障功能进行了测试,结果表明:机械手可以成功躲避障碍物,且采用遗传和模糊算法优化的机械手具有更高的移动平稳性,对于提高果实采摘效率和质量具有重要的作用。In order to improve the automation degree of picking robot manipulator movement and make it avoid obstacles effectively in the process of movement,it introduced the obstacle avoidance system based on PID controller into the design of manipulator,and used the genetic algorithm and fuzzy algorithm to optimize the controller,which improves the accuracy and stability of manipulator movement.It simulated the working environment of picking robot manipulator,and tested the obstacle avoidance function of the manipulator.The test results show that the manipulator can success fully avoid obstacles,and the manipulator optimized by genetic algorithm and fuzzy algorithm has higher movement stability,which plays an important role in improving the efficiency and quality of fruit picking.

关 键 词：采摘机械手 避障系统 遗传算法 模糊算法 PID控制器 

分 类 号：S225[农业科学—农业机械化工程] TM571[农业科学—农业工程]