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Parallel robot series type fruits clamping model-free self-adaptive smooth sliding mode impedance control method

A model-free self-adaptive, impedance control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of not considering the influence of the dynamic characteristics of the clamping mechanism on the control performance of fruit grasping, and avoid online real-time calculation. , Improve performance and achieve the effect of non-destructive clamping

Active Publication Date: 2019-07-26
JIANGSU UNIV
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Problems solved by technology

[0006] However, the above-mentioned relevant grasping control methods do not consider the dynamic characteristics of the clamping mechanism and the influence of various complex uncertain factors such as friction and external interference on the fruit grasping control performance.

Method used

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  • Parallel robot series type fruits clamping model-free self-adaptive smooth sliding mode impedance control method
  • Parallel robot series type fruits clamping model-free self-adaptive smooth sliding mode impedance control method
  • Parallel robot series type fruits clamping model-free self-adaptive smooth sliding mode impedance control method

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Embodiment 1

[0113] Aiming at the problem of non-destructive gripping of string fruits by parallel robots, the present invention proposes a model-free adaptive smooth sliding mode impedance control method, which does not need to establish a mathematical model of the parallel robot gripping mechanism, and has the ability to control mechanism movement and load changes Self-adaptive, it can well realize the non-destructive gripping of string fruits by parallel robots. The schematic diagram of model-free adaptive smooth sliding mode impedance control for parallel robot string fruit gripping is shown in Fig. figure 2 As shown, the specific implementation of the control method is as follows:

[0114] 1. Solve the relationship between the rotation angle of the active joint screw and the position conversion relationship of the clamping finger of the clamping mechanism

[0115] exist figure 2 In , the length constraint equation of the driven rod is used, and the kinematic equation of the mechan...

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Abstract

The invention discloses a parallel robot series type fruits clamping model-free self-adaptive smooth sliding mode impedance control method, and belongs to the technical field of agricultural parallelrobot control. The parallel robot series type fruits clamping model-free self-adaptive smooth sliding mode impedance control method is characterized by comprising the following steps of Firstly, aiming at the clamping mechanism of the parallel robot, a time delay estimation technology is adopted to obtain the dynamic model of the clamping mechanism in real time; and then designing the parallel robot clamping mechanism smooth sliding mode controller based on the time delay estimation and obtaining dynamic model, the adaptive law with few parameters needs to be adjusted is designed for the model-free smooth sliding mode control inertia gain design, and the model-free self-adaptive smooth sliding mode impedance control method is realized; and Finally, through software programming, the non-destructive clamping of the series type fruit by the parallel robot is realized. The invention provides a model-free self-adaptive smooth sliding mode impedance control method, a mathematical model of the clamping mechanism does not need to be established, the self-adaptability to the mechanism movement and the load change are achieved, and the non-destructive clamping of the series-type fruits by the parallel robot can be well realized.

Description

technical field [0001] The invention relates to the technical field of agricultural parallel robot control, in particular to a model-free self-adaptive smooth sliding mode impedance control method for string fruit sorting and parallel robot gripping of string fruits, which realizes the non-destructive gripping of string fruits by parallel robots . Background technique [0002] The parallel mechanism adopts a closed-chain structure, which has the advantages of stable structure, high rigidity, high precision, and good dynamic performance. It is especially suitable for string fruit sorting operations that require high grasping stability. However, bunches of fruits are soft and easy to damage. One of the key issues in realizing non-destructive sorting is how to achieve high-performance gripping control of the clamping mechanism on bunches of fruits. [0003] The clamping mechanism of the parallel robot is a mechanism that is in direct contact with the target fruit, and its func...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B07C5/00
CPCB25J9/16B07C5/00B25J9/1679
Inventor 高国琴杨纯
Owner JIANGSU UNIV
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