Design of Automatic Control System for Picking Robot Mechanical Arm Based on SLAM
To meet the efficient harvesting requirements of harvesting robots,a SLAM based mechanical arm automa-tion control system is designed.Install lidar sensors in the harvesting robot to sense the environmental data of the harvesting robot.Using the SLAM method,locate the sampling points,create a grid map of the harvesting robot's harvesting operations,and align and match the environmental data perception results with the constructed grid map.Using the least squares method,solve the optimal pose of the harvesting robot's mechanical arm and determine the corresponding joint movement path of the mechanical arm as the target path.Using PID controller to automatically control the joints of the mechanical arm of the harvesting robot,so that each joint of the mechanical arm moves ac-cording to the target harvesting path.The system test results show that the system can achieve automatic control of the harvesting robot's mechanical arm,and the tracking error of the mechanical arm's joint tracking target trajectory is controlled below 0.2°.
SLAMpicking robotmechanical armautomation control systemPID
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