摘要
分析了采摘机器人目标位置与机器人关节角度之间的运动学关系,给出了两者之间的坐标变换公式。根据伺服控制特点,在机器人伺服控制中引入模糊PID控制方法,利用模糊控制策略在线自适应整定PID参数,提高了控制系统的动、静态性能。仿真和实验结果验证了设计的合理性和有效性。
The article analyzed the fruit harvesting robot＇s kinematic relation between the target position and the joint angle of the robot, and then a coordinate transformation formula was given. According to the servo control＇ s features, the fuzzy - PID control method was introduced into the robot servo control. Fuzzy control strategy which can tune PID parameters on-line-self adaptively was adopted to enhance the control system＇s dynamic and static performances. Simulative and experimental results validated the rationality and the effectiveness of the design.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2009年第1期152-156,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家“863”高技术研究发展计划资助项目(2006AA10Z254)
江苏大学校基金资助项目(07JDG071)
