An active compliance control method for the gripping force of an apple picking robot end effector
An end effector and picking robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of inability to achieve compliant grasping control, and achieve the effect of reducing the damage rate and achieving the effect of following.
Inactive Publication Date: 2018-10-09
JIANGSU UNIV
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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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[0034] An active compliance control method for the gripping force of an apple picking robot based on impedance control, comprising the following steps:
[0035] 1) Use the FSR402 force-sensitive resistance type force sensor 200 to measure the grasping force f of the end effector, use the information of the TRD-NA1024NW position encoder 190 to obtain the displacement transformation amount Δx of the end effector, and obtain the grasping force and displacement signal input To the online identifier to identify the equivalent stiffness coefficient k of the environment and the controller eq , and through the established second-order impedance and first-order admittance model y=k eq · Δx, find out the stiffness coefficient in the impedance controller.
[0036] 2) Using the force sensor 200 and the position encoder 210 to grasp the force f of the end effector r And the displacement variable Δx, within a sampling period, N times of sampling, and N>3, take the average value of N times...
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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 ...
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IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1653B25J9/1664
Inventor 姬伟唐伟许波钱志杰孟祥利赵德安
Owner JIANGSU UNIV