Modeling And Control Of Fruit Picking Manipulator

With the expansion of agricultural scale and the development of robotic technology,picking robots will gradually become the main tool for fruit picking,it also can improve the efficiency of agricultural production.As the core component of the picking robot,the manipulator can control fruit picking according to visual information.Therefore,the research on control algorithm of picking manipulator has great significance.This paper took citrus picking as an example.Firstly,according to the growth of citrus,the parameters of the manipulator were given,and the relationship between the workspace of the manipulator and the coverage area of citrus canopy was obtained,which verified that the parameters of the manipulator were reasonable and effective.Secondly,the kinematics of the manipulator was modeled,and the relationship between joint space and manipulation space in terms of speed and position was obtained,and the accuracy of the model was analyzed by inverse kinematics.At the same time,the dynamic equation was obtained according to the given mass and inertia of the connecting rod,and the relationship between joint moment and position and speed in the motion of the manipulator was analyzed.It could track the trajectory more accurately.The trajectory of the manipulator was planned and verified,the error between the desired trajectory and the actual trajectory was analyzed and the method of combining feedback linearization with PD control was proposed to control the motion of the manipulator.The simulation results showed that the control algorithm could make the manipulator track the desired trajectory quickly and move according to the desired trajectory,and the control accuracy was high.Finally,a three-dimensional simulation model was established according to the established kinematics,dynamic model,planned desired trajectory and tracking algorithm.The simulation results showed that the manipulator could track quickly and move according to the desired trajectory,and the whole motion process was stable.The results show that the model and the algorithm are effective.