Shape feedback control method of fruit harvesting robot

Abstract

The invention discloses a shape feedback control method of a fruit harvesting robot. The method comprises the following steps, (1) establishing a robot motion controller made of N consecutive serially connected joints, N is a positive integer, N=1, 2.... The robot comprises interconnected motion controllers, joint actuators, joints and shape sensors. The shape sensors are mounted on the robot joints, the quantity of the shape sensors is M, M is a positive integer, M=1, 2..., (2) the robot motion controllers give motion orders to the joint actuators. After the joint actuators receive the motion order, the joint actuators drive the joints to bend, (3) at the same time the shape sensors placed on the joints monitor the bending curvature value of the joints in a real time mode, and feed back to the motion controller. The method effectively enhances the motion precision of the fruit harvesting robot, reduces the defects of fruit breaking or falling caused by the over-clamping or under-clamping during the work process of the fruit harvesting robot.

Description

technical field [0001] The invention relates to a shape feedback control method for a fruit picking robot, belonging to the technical field of robot control. Background technique [0002] Up to now, there are mainly two ways to achieve picking. The first one is to design the corresponding mechanism to clamp and grasp the fruit first, and then use the rotation of the wrist joint in two vertical directions to simulate the human action of twisting the fruit handle. The object of its operation requires that the fruit stalk is easy to separate from the fruit branch, and at the same time it is necessary to strictly control the force of the fruit to be clamped, otherwise the fruit will be easily damaged. The second is to use the suction cup to suck the fruit firmly, drag it between the clamping fingers, and then use scissors or other methods to break the fruit stem. This method needs to detect the position of the fruit stem and adjust it precisely The posture of the end effector i...

AI Technical Summary

Problems solved by technology

The second is to use the suction cup to suck the fruit firmly, drag it between the clamping fingers, and then use scissors or other methods to break the fruit stem. This method needs to detect the position of the fruit stem and adjust it precisely Good attitude of the end effector, which increases the difficulty of system control and the complexity of the mechanism

The fingers are bent by cables and tendons, and stretched by torsion springs; digital linear stepping motors are used to drive the tendons, which enhances the controllability and precision of the movement of the end effector; in the selection of fingers, light weight is selected. And the material with good hardness, however, due to the different shapes and sizes of the fruits to be picked, the existing fruit picking robots cannot grasp accurately, the perception sensitivity is low, and the shape feedback is low, resulting in the defects of fruit pinching or falling