阻抗模型下的采摘机器人末端柔顺抓取力控制方法研究  

Research on the control method of the flexible grasping force of the end of a picking robot under the impedance model

作　　者：耿昕龙 张旭 GENG Xinlong;ZHANG Xu(Xi′an Nuclear Equipment Co.,Ltd.,Shaanxi Xi′an 710000,China)

机构地区：[1]西安核设备有限公司,陕西西安710000

出　　处：《工业仪表与自动化装置》2024年第4期52-56,共5页Industrial Instrumentation & Automation

摘　　要：果蔬采摘是一项复杂且耗时的任务,需要处理各种动态、不规则的果蔬形状和位置,同时保证果蔬的完整性和新鲜度。因为常规采摘控制方法效率低下,而且容易造成果实损伤,为此,提出一种阻抗模型下的采摘机器人末端柔顺抓取力控制方法。以采摘机器人末端柔顺抓取稳定性为约束条件,根据运动学原理分析手指末端电机的电磁转矩与转速间的关系,利用毕奥-萨伐尔定律获取抓取力控制信号。基于阻抗模型、二阶系统设计抓取力控制器,通过二阶低通滤波器调节电机运转,得出机器人抓取的期望位置、速度及加速度,完成抓取力控制任务。实验结果表明,阻抗模型可应用于各种果蔬采摘场景,且末端柔顺抓取力控制误差小,稳定性高,解决果蔬采摘存在的难题,推动农业生产的现代化和智能化。Picking fruits and vegetables is a complex and time-consuming task that requires handling various dynamic and irregular shapes and positions of fruits and vegetables,while ensuring their integrity and freshness.Due to the low efficiency of conventional harvesting control methods and their susceptibility to fruit damage,a flexible grasping force control method for the end effector of harvesting robots under impedance model is proposed.Based on the constraint condition of flexible grasping stability at the end of the harvesting robot,the relationship between the electromagnetic torque and speed of the finger end motor is analyzed using kinematic principles.The grasping force control signal is obtained using the Biot Savart law.Design a gripping force controller based on impedance model and second-order system,adjust the motor operation through second-order low-pass filter,obtain the expected position,speed,and acceleration for robot gripping,and complete the gripping force control task.The experimental results show that the impedance model can be applied to various fruit and vegetable picking scenarios,and the control error of the end flexible grasping force is small,with high stability,solving the problems of fruit and vegetable picking,and promoting the modernization and intelligence of agricultural production.

关 键 词：阻抗模型 采摘机器人 抓取力 电机转矩 电机转速 位置控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]