车载树枝修剪机器人智能协同控制方法研究  

Research on Intelligent Collaborative Control Method of Vehicle-mounted Tree Pruning Robot

作　　者：赵清源 章立 ZHAO Qingyuan;ZHANG Li(Changzhou Power Supply Branch of State Grid Jiangsu Electric Power Co.,Ltd.,Changzhou 213000,China)

机构地区：[1]国网江苏省电力有限公司常州供电分公司,江苏常州213000

出　　处：《微型电脑应用》2024年第9期242-245,共4页Microcomputer Applications

摘　　要：传统的树枝修剪机器人协同控制方法由于缺乏对观测控制参数和状态控制参数的计算,导致控制误差较大。因此,提出一种基于多模态信息特征数的车载树枝修剪机器人智能协同控制方法。该方法利用多模态信息特征数算法来提取运动特征,并建立机器人的运动学模型。同时,结合协同控制目标,设计相应的协同控制器,并计算观测参数和状态参数。通过寻找搜索成本最低的可达节点构建跟踪路径,从而实现对机器人的协同控制。实验结果表明,应用该方法于车载树枝修剪机器人的智能协同控制能够降低控制误差并取得更好的控制效果。The traditional collaborative control method for tree pruning robots lacks calculation of observation control parameters and state control parameters,resulting in significant control errors.Therefore,this article proposes an intelligent collaborative control method of vehicle-mounted tree pruning robot based on multimodal information feature number.This method utilizes a multi-modal information feature number algorithm to extract motion features and establish a kinematic model of the robot.At the same time,corresponding collaborative controllers are designed based on the collaborative control objectives,and observation and state parameters are calculated.By searching for the reachable node with the lowest search cost,a tracking path is constructed to achieve collaborative control of the robot.The experimental results show that applying this method to the intelligent collaborative control of vehicle-mounted tree pruning robots can reduce control errors and achieve better control effects.

关 键 词：多模态信息特征数 车载树枝修剪机器人 智能协同控制 运动学模型 

分 类 号：R318[医药卫生—生物医学工程]