Grasping force active compliance control method of apple picking robot tail end actuator

Abstract

The invention discloses a grasping force active compliance control method of an apple picking robot tail end actuator, and belongs to the technical field of picking robot control. The grasping force control method is characterized in that a force sensor and an encoder arranged on the apple picking robot tail end actuator obtain the position transformation quantity and the acting force on a grasping object through collection; the displacement and the force obtained through collection are used as the input of a recursive least squares method recognizer of a variable forgetting factor; the rigidity coefficient of an impedance controller is subjected to on-line identification; the rigidity parameters of the impedance controller for adapting to different environment requirements are automatically regulated in real time according to the output result of a second-order impedance controller. The control method has the advantages that the grasping damage rate of a picking robot to apples can be effectively reduced; in addition, the anti-jamming capability of the robot during field work is improved.

Description

technical field [0001] The invention relates to the field of control of apple picking robots, in particular to an active compliance control method for grasping force of an end effector of an apple picking robot based on variable stiffness coefficient impedance control, and belongs to the field of agricultural informatization. Background technique [0002] my country is a large agricultural country, and realizing the modernization, mechanization and automation of agricultural production is an inevitable trend of social development. Fruit picking is the most time-consuming and labor-intensive link in agricultural production. It has the characteristics of high cost, strong seasonality, and a large amount of labor. However, due to the rapid development of industrial production, the lack of a large number of agricultural labor force and the aging of the population, the labor force capable of engaging in agricultural production has become less and less, and manual labor alone can ...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the deficiency of the existing grasping force control technology of the end effector of the apple picking robot, which cannot realize the defect of compliant grasping control, this project proposes a double closed-loop active compliant control method for the grasping force of the robot end effector, in which the position within The ring uses incremental PID control, and the force outer ring uses impedance control with variable stiffness coefficient. This control method can take into account the grasping force and the displacement transformation of the end effector, and it also has certain adaptability to the field working environment of agricultural robots.

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