In order to improve the motion cooperative control performance of agricultural harvesting robots and reduce the collision probability of robots,the D-H method is used to optimize the design of the robot motion cooperative control system.The position,torque,and collision sensor of the system are modified,the motion cooperation controller and driver of the system are optimized,the system communication module structure is adjusted,and the optimization of the hardware system is completed.The D-H method is used to construct the mathematical model of the agricultural harvesting robot.Under this model,the sensor equipment is used to real-ize the quantitative information of the robot's real-time position and posture.Through the simulation of the robot's picking process,the robot's motion cooperation tasks are assigned.The robot's motion cooperation control objectives are determined from the aspects of position and posture.The actual force of the robot is solved through force analysis,finally,the control quantity is calculated to realize the motion cooperative control function of agricultural harvesting robots.Through the system testing experiments,it is concluded that under the control of the proposed method,the control errors of the robot position,attitude angle,and force are 14 mm,0.2°,and 1.2 N,respectively.Under the control of the optimal design system,the collisions of the robot are significantly reduced.
关键词
D-H法/农业采摘机器人/运动协作/运动控制系统
Key words
D-H method/agricultural picking robot/motion cooperation/motion control system
维普
万方数据