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A Model-Free Adaptive Smooth Sliding Mode Impedance Control Method for Parallel Robot String Fruit Gripping

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: 2022-03-22
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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  • A Model-Free Adaptive Smooth Sliding Mode Impedance Control Method for Parallel Robot String Fruit Gripping
  • A Model-Free Adaptive Smooth Sliding Mode Impedance Control Method for Parallel Robot String Fruit Gripping
  • A Model-Free Adaptive Smooth Sliding Mode Impedance Control Method for Parallel Robot String Fruit Gripping

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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 model-free self-adaptive smooth sliding mode impedance control method for string-like fruit gripping by a parallel robot, which belongs to the technical field of agricultural parallel robot control. Firstly, for the parallel robot clamping mechanism, the dynamic model of the clamping mechanism is obtained online in real time by using the time delay estimation technology; then, a smooth sliding mode controller for the clamping mechanism of the parallel robot is designed based on the dynamic model obtained by the time delay estimation; For model-free smooth sliding mode control inertia gain, an adaptive law with fewer parameters to be adjusted is designed, and a model-free adaptive smooth sliding mode impedance control method is implemented. Finally, through software programming, the parallel robot can achieve non-destructive gripping of string fruits. The model-free adaptive smooth sliding mode impedance control method proposed by the invention does not need to establish a mathematical model of the clamping mechanism, has the adaptability to the movement of the mechanism and the change of the load, and can well realize the non-destructive clamping of the string fruit by the parallel robot. Pick.

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 Patents(China)
IPC IPC(8): B25J9/16B07C5/00
CPCB25J9/16B07C5/00B25J9/1679
Inventor 高国琴杨纯
Owner JIANGSU UNIV
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