Design of Control System for Vegetable Transplanting Robot Based on ROS
In order to realize the unmanned intelligent operation of vegetable transplanting in greenhouse,the control sys-tem of vegetable transplanting robot based on ROS architecture is designed in this paper.The control system realizes the automatic control of the vegetable transplanting robot's autonomous seedling picking parts,seedling planting parts and au-tonomous mobile platform,which is divided into bus unit and navigation unit.The hardware system is built based on the EtherCAT bus and depth camera,and the ROS software system is developed using the layered modular concept,and the collaborative integrated control of seedling picking,seedling dropping,seedling planting and mobile platform in the trans-planting operation is built and realized.The experiment shows that the transplanting operation with high success rate can be achieved under the condition of taking and transplanting seedlings with a period of more than 2s/plant.The designed control system ensures the success rate of transplanting operation and improves the intelligence of the current vegetable transplanting machine.
vegetable transplanting robotcontrol systemROSservo control
万方数据
维普
