Controller Design Of 6-DOF Fruit Picking Manipulator Based On ATmega16

21st century is an important period of development from agricultural mechanization to intelligence, With the scale, diversification and precision of agricultural production, the requirements of agricultural production and operation increase gradually, and many projects are labor-intensive operations, such as the selection and harvesting of vegetables and fruit, grafting vegetables, coupled with seasonal requirements, To ensure its quality will be a crucial issue; in addition, because of the rapid development of industrial production, agricultural labor force will gradually shift to other industries; With the population aging and decline in agricultural labor force, agricultural production costs have been increased, Therefore, This has greatly reduced the competitiveness of products in the market.Fruit picking work is the most time-consuming and laborious part in fruit production chain. Because of it is Seasonal, labor-intensive, Costly, ensuring the timely harvest of fruit, reducing harvest operating costs are an important way for increasing agricultural income. As an important type of agricultural robot, Harvesting robots can take full advantage of the information awareness function, identify the maturity of the object being picked, ensure the quality of the fruit picking, greatly enhance the work of harvesting efficiency reduce worker labor intensity and production costs, increase labor productivity and product quality, ensure timely harvest of fruit, Hence, it has great potential for development. Therefore, the wider application of large-scale agricultural robot will be a forceful measure to improve China's agricultural mechanization level.In this paper, Dagu 6-DOF manipulator is used as the mechanical structure, Manipulator system consists of the base, arm, wrist, hand four parts. Hardware system is composed of 6-channel servo motors, metal components, after the in-depth study of the mechanical structure of the mechanical system and servo control methods, Control system of 6 DOF fruit picking manipulator is designed. Main content of this paper:Firstly, the controller design of 6-DOF Fruit Picking Manipulator ,the hardware control system is designed modularly, Which is divided into the chip control module, power module, the keyboard module, liquid crystal display modules, servo drive module. Decomposing the function and reducing the coupling. Controller design is introduced from two aspects - hardware and software, the controller abandon the traditional control methods - control software installed on PC, the control of 6-DOF manipulator can be realized by only using the controller, choosing AVR Microcontroller-Atmega16l as control chip.Secondly, After the space coordinates given by vision system and the posture determined , Space coordinates is converted into angles of sevors. Hardware control system interface connects with vision system and control the angles of servos ,Thus helping the whole manipulator completing the fruit picking work within a certain space through software system , the feasibility of control of the six degree Fruit Picking manipulator through the controller is verified by experiments, and this paper also meet the design purpose of controller.