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Adaptive variable impedance control method for clamping mechanism of fruit sorting parallel robot

A clamping mechanism and control method technology, applied in the field of agricultural parallel robot control, can solve problems such as inability to adapt to changes in fruit quality and position

Active Publication Date: 2020-06-05
JIANGSU UNIV
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Problems solved by technology

However, in this paper, the finger force / position control is equivalent to the desired inertia-damping-stiffness model, and the impedance control with fixed impedance model parameters cannot adapt to changes in fruit quality and position

Method used

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  • Adaptive variable impedance control method for clamping mechanism of fruit sorting parallel robot
  • Adaptive variable impedance control method for clamping mechanism of fruit sorting parallel robot
  • Adaptive variable impedance control method for clamping mechanism of fruit sorting parallel robot

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Embodiment 1

[0111] Aiming at the problem of non-destructive clamping of string fruits by the clamping mechanism of the fruit sorting parallel robot, the present invention proposes an adaptive variable impedance control method for the clamping mechanism of the fruit sorting parallel robot. The method needs to establish a fruit sorting parallel robot clamp The mathematical model of the holding mechanism improves the adaptability of the system to changes in the clamping speed and clamping load, and at the same time improves the performance of impedance control, which can well realize the non-destructive clamping of string fruits by the fruit sorting parallel robot. The schematic diagram of the self-adaptive variable impedance control of the clamping mechanism of the fruit sorting parallel robot is shown in Fig. figure 2 As shown, the specific implementation of the control method is as follows:

[0112] 1. Solve the relationship between the rotation angle of the active joint screw and the po...

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Abstract

The invention discloses an adaptive variable impedance control method for a clamping mechanism of a fruit sorting parallel robot. According to the method, an impedance controller outer loop and a position controller inner loop are used to form a cascade control structure, the deviation between the expected clamping force and the acquired actual contact force is taken as the input of an outer ringforce impedance controller, the outer ring force impedance controller generates the correction amount of the inner ring position reference track, and the clamping force control is realized through theadaptive variable impedance control of the clamping mechanism of the fruit sorting parallel robot. An adaptive variable impedance control algorithm of the clamping mechanism of the fruit sorting parallel robot has the adaptability to the movement speed and load change of the clamping mechanism, and lossless clamping of the fruit can be achieved through the clamping mechanism of the fruit sortingparallel robot.

Description

technical field [0001] The invention relates to the technical field of control of agricultural parallel robots, in particular to an adaptive variable impedance control method for fruit sorting parallel robots to clamp fruit strings, which realizes the non-destructive clamping of string fruits by fruit sorting 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 fruit sorting operations that require high grasping stability. However, string fruits are soft and easy to damage. One of the key issues in realizing non-destructive sorting is how to realize the smooth gripping control of the gripping mechanism on the fruits with high performance. The clamping mechanism of the parallel robot is a mechanism that is in direct contact with the target fruit, and its function is similar to that of a human...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1679B25J9/1633
Inventor 高国琴李雅倩
Owner JIANGSU UNIV
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