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Adaptive Variable Impedance Control Method for Clamping Mechanism of Fruit Sorting Parallel Robot

A technology of clamping mechanism and control method, which is applied in the field of agricultural parallel robot control, can solve the problems of not being able to adapt to changes in fruit quality and position, and achieve the effects of improving adaptability, improving control performance, and improving performance

Active Publication Date: 2022-04-26
JIANGSU UNIV
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Problems solved by technology

However, in this paper, the finger force / position control is equivalent to the desired inertia-damping-stiffness model, and the impedance control with fixed impedance model parameters cannot adapt to changes in fruit quality and position

Method used

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  • Adaptive Variable Impedance Control Method for Clamping Mechanism of Fruit Sorting Parallel Robot
  • Adaptive Variable Impedance Control Method for Clamping Mechanism of Fruit Sorting Parallel Robot
  • Adaptive Variable Impedance Control Method for Clamping Mechanism of Fruit Sorting Parallel Robot

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Embodiment 1

[0111] The invention provides an adaptive variable impedance control method for the clamping mechanism of parallel fruit sorting robot aiming at the problem that the clamping mechanism of parallel fruit sorting robot can clamp string fruits without damage. The method needs to establish a mathematical model of the clamping mechanism of parallel fruit sorting robot, improve the adaptability of the system to clamping speed and clamping load change, and improve the performance of impedance control, so that the nondestructive clamping of parallel fruit sorting robot can be well realized. The principle diagram of adaptive variable impedance control of clamping mechanism of fruit sorting parallel robot is as follows Figure 2 As shown, the specific implementation of the control method is as follows:

[0112] 1. Solve the conversion relationship between the rotation angle of the active joint screw and the position of the clamping finger of the clamping mechanism.

[0113] at Figure 2 Accor...

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Abstract

The invention discloses an adaptive variable impedance control method of a fruit sorting parallel robot clamping mechanism. In this method, the outer loop of the impedance controller and the inner loop of the position controller are used to form a cascade control structure. The correction amount of the reference trajectory of the ring position is realized by the adaptive variable impedance control of the clamping mechanism of a fruit sorting parallel robot to realize the clamping force control. The adaptive variable impedance control algorithm of the fruit sorting parallel robot clamping mechanism proposed by the invention has the adaptability to the movement speed and load changes of the clamping mechanism, and can realize the non-destructive clamping of fruits by the fruit sorting parallel robot clamping mechanism. Pick.

Description

Technical field [0001] The invention relates to the technical field of agricultural parallel robot control, in particular to an adaptive variable impedance control method for the fruit sorting parallel robot to clamp string fruits, which realizes the lossless clamping of string fruits by the fruit sorting parallel robot. technical background [0002] The parallel mechanism adopts a closed chain structure, which has the advantages of stable structure, high rigidity, high precision and good dynamic performance, and is especially suitable for fruit sorting operations with high requirements for grasping stability. However, string fruits are soft and easy to be damaged, so one of the key problems to realize lossless sorting is how to realize the soft gripping control of fruit by clamping mechanism with high performance. Parallel robot clamping mechanism is a mechanism that directly contacts the target fruit, and its function is similar to that of human hands. [0003] "Compliant grasp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1679B25J9/1633
Inventor 高国琴李雅倩
Owner JIANGSU UNIV
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