Research on the Control of Intelligent Milking Robot Based on Impedance Technology
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 husband-ry.In order to avoid damage or injury during milking operations when the robotic arm comes into contact with the cow,a impen-dance 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 per-forms 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.
万方数据
维普
