首页|随意摆放物流工件分拣机械手抓取力自动化控制方法

随意摆放物流工件分拣机械手抓取力自动化控制方法

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物流工件种类在随意摆放环境下,抓取过程复杂程度随机,机械手很难预判最优起始位置,抓取点会形成碰撞冲突.无法达到理想抓取力度,因此,提出了随意摆放物流工件分拣机械手抓取力自动化控制方法.考虑到物流工件的复杂性,采用超椭圆的笛卡尔描述模型对随意摆放物流工件进行抓取点位设置,并建立机械手抓取平面,确定最优抓取起始位姿.在此基础上,基于滑觉信号的自适应控制方法实现了机械手根据不同工件特性调整抓取力,实现更加智能化的自动化控制.通过对比实验可知,该方法抓取物流工件对应的抓取力大小排序和抓取力数值与实验数据一致,可以自动调整机械手的抓取力度,实现准确、稳定和高效地分拣.
Automatic Control Method for Grasping Force of Sorting Manipulators for Randomly Placing Logistics Workpieces
The types of logistics workpieces are randomly placed in an environment,and the complexity of the gripping process is random.It is difficult for the robotic arm to predict the optimal starting position,and the gripping points will form collision conflicts.Unable to achieve the desired gripping force,an automated control method for the gripping force of the sorting robot arm for randomly placing logistics workpieces was proposed.Considering the complexity of logistics workpieces,a hyper elliptical Cartesian description model is adopted to set the gripping points for randomly placed logistics workpieces,and a mechanical arm gripping plane is estab-lished to determine the optimal gripping starting pose.On this basis,an adaptive control method based on sliding signals is used to ad-just the gripping force of the robotic arm according to the characteristics of different workpieces,achieving more intelligent automation control.Through comparative experiments,it can be seen that the sorting and numerical values of the gripping force corresponding to the logistics workpiece are consistent with the experimental data.This method can automatically adjust the gripping force of the robotic arm,achieving accurate,stable,and efficient sorting.

random placementlogistics artifactssorting manipulatorgrasp forceautomation control

张晓玲、唐荣芳、程荣波、唐荣文

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广西工业职业技术学院,南宁 530000

广西乔亿食品加工有限责任公司,广西 玉林 537000

随意摆放 物流工件 分拣机械手 抓取力 自动化控制

2024

自动化与仪器仪表
重庆工业自动化仪表研究所,重庆市自动化与仪器仪表学会

自动化与仪器仪表

CSTPCD
影响因子:0.327
ISSN:1001-9227
年,卷(期):2024.(11)