基于阻抗技术的智能挤奶机器人控制研究  

Research on the Control of Intelligent Milking Robot Based on Impedance Technology

作　　者：姚桂廷 王磊 杨彩云 Yao Guiting;Wang Lei;Yang Caiyun(College of Mechanical Engineering,Anhui Science And Technology University,Fengyang,Anhui 233100,China;School of Electronic Engineering,Chaohu University,Hefei,Anhui 238024,China)

机构地区：[1]安徽科技学院机械工程学院,安徽凤阳233100 [2]巢湖学院电子工程学院,安徽合肥238024

出　　处：《黑龙江工业学院学报（综合版）》2024年第8期152-156,共5页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：安徽省自然科学基金项目(项目编号:1708085QF146);安徽省高校协同创新项目(项目编号:GXXT-2019-018)。

摘　　要：挤奶作业是乳制品产业中的重要步骤,但目前国内牧场大部分仍使用人工进行挤奶作业,引入高智能化自动挤奶装置是未来畜牧业现代化发展的趋势。为了避免挤奶作业中奶牛与机械臂接触时出现破坏或受伤等情况,提出一种基于阻抗控制的机器人柔顺控制方案,可有效提高机器人的柔顺性。通过六维力矩传感器获取力反馈信息,并根据反馈力矩进行避让操作,进而控制机器人的挤奶作业,避免奶牛在与机器人接触时发生伤害性碰撞。仿真结果表明,该方案能够有效适应挤奶机器人与环境触碰时的接触力,提高智能挤奶机器人的柔顺性。Milking operation is an important step in the dairy industry.Currently,a majority of manual labor is used for milking operations.The introduction of highly intelligent automatic milking devices is a trend for the future modernization of animal husbandry.In order to avoid damage or injury during milking operations when the robotic arm comes into contact with the cow,a impendance control-based scheme is proposed to enhance the compliance of the robot,thereby effectively improving the robot′s flexibility.The scheme utilizes a six-axis force-torque sensor to obtain force feedback information,and based on the feedback torque,it performs avoidance operation to control the milking robot,thereby preventing harmful collisions when the robot comes into contact with the animals.The simulation results demonstrate that the scheme can effectively adapt to the contact forces between the milking robot and the environment,thus enhancing the compliance of the intelligent milking robot.

关 键 词：阻抗控制 挤奶机器人 柔顺控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]