A method for controlling the movement of the mechanical arm of the automatic throwing system of the green feeding machine
A motion control and robotic arm technology, applied in program control, digital control, electrical program control, etc., can solve the problems of increased harvesting costs, frequent operation of handles, waste of materials, etc., and achieve fast response and low cost.
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[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0043] Such as figure 1 As shown in , during operation, green feeding machine 1 harvests green fodder, uses RGB-D camera 4 to identify and position the vehicle body 2 of the transport vehicle and detects the fullness of the material in the vehicle body, and controls the mechanical arm 3 to accurately spray the material to the bottom of the vehicle body. full area.
[0044]The movement of the mechanical arm has three degrees of freedom. The first degree of freedom 11 is the degree of freedom of the rotation of the mechanical arm ...
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