基于D-H法的农业采摘机器人运动协作控制系统设计

Design of cooperative control system for agricultural harvesting robot based on D-H method

摘要:

为提升农业采摘机器人运动协作控制性能，降低机器人碰撞概率，利用D-H法优化设计机器人运动协作控制系统。改装位置、力矩以及碰撞传感器设备，优化运动协作控制器与驱动器，调整系统通信模块结构，完成硬件系统的优化。利用D-H法构建农业采摘机器人数学模型，在该模型下，利用传感器设备实现机器人实时位姿的量化描述，通过机器人采摘流程的模拟，分配机器人运动协作任务，从位置和姿态等多个方面，确定运动协作控制目标，经过受力分析求解机器人实际作用力，最终通过控制量的计算，实现农业采摘机器人的运动协作控制功能。通过系统测试实验得出结论：与传统控制系统相比，机器人位置、姿态角和作用力的控制误差分别降低了约40mm、0.2°和1.2N，在优化设计系统控制下，机器人的碰撞次数得到明显降低。

Abstract:

In order to improve the cooperative control performance of the agricultural harvesting robot and reduce the collision probability of the robot, the D-H method is used to optimize the design of the robot cooperative control system. Modify the position, torque and collision sensor equipment, optimize the motion cooperation controller and driver, adjust the system communication module structure, and complete the optimization of the hardware system. 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 realize the quantitative description 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. From the aspects of position and posture, the robot's motion cooperation control objectives are determined. The actual force of the robot is solved through force analysis, and finally the control quantity is calculated, Realize the cooperative control function of agricultural harvesting robot. Through the system test experiment, it is concluded that compared with the traditional control system, the control errors of robot position, attitude angle and force are reduced by about 40 mm, 0.2 ° and 1.2 N respectively. Under the control of the optimized design system, the number of robot collisions is significantly reduced.