竞赛用垃圾分拣智能车位姿优化设计  

Optimization Design of Intelligent Vehicle Posture for Garbage Sorting in Competitions

作　　者：章聪聪 张同瓒 ZHANG Congcong;ZHANG Tongzan(School of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学电气与信息工程学院,安徽淮南232001

出　　处：《现代信息科技》2024年第8期69-74,共6页Modern Information Technology

基　　金：2022年安徽理工大学大学生创新创业训练计划项目(2022210361067)。

摘　　要：为解决生活垃圾清理中人力资源成本高、效率低的问题,提出一种垃圾分拣智能车设计方案。该研究对机械臂抓取效率和精度进行提升,优化机械臂的运动学求解算法和结构设计;为解决智能车因轮子打滑导致的定位偏差,通过实测位移数据,使用MATLAB计算拟合曲线四次多项式进行优化;为处理陀螺仪零漂的问题,利用卡尔曼滤波算法进行优化。通过综合改进,使智能车机械臂和车身位姿控制更精准可靠。结果表明,设计的垃圾分拣智能车能获得准确可靠的位姿信息,从而高效完成分拣任务。In order to solve the problems of high cost and low efficiency of human resources in household garbage cleaning,a design scheme for garbage sorting intelligent vehicle is proposed.This study aims to improve the efficiency and accuracy of robotic arm grasping,optimize the kinematic solution algorithm and structural design of the robotic arm.To solve the positioning deviation caused by wheel slippage in intelligent vehicles,the displacement data is measured and MATLAB is used to calculate the fitting curve quartic polynomial for optimization.To address the issue of zero drift in gyroscopes,the Kalman filtering algorithm is used for optimization.Through comprehensive improvement,the intelligent vehicle's robotic arm and body posture control are made more precise and reliable.The results indicate that the designed garbage sorting intelligent vehicle can obtain accurate and reliable posture information,thereby efficiently completing sorting tasks.

关 键 词：正逆运动学 最小二乘法 优化分析 卡尔曼滤波器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]