Picking fruits and vegetables is a complex and time-consuming task that requires han-dling various dynamic and irregular shapes and positions of fruits and vegetables,while ensuring their in-tegrity and freshness.Due to the low efficiency of conventional harvesting control methods and their sus-ceptibility 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.
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