水果采摘机器人实时避障方法的研究

Research of Fruit-picking Robot Obstacle Avoidance Method

针对采摘机器人采摘作业时易受障碍物阻挡而影响其工作效率的弊端,提出了将避障问题转化为基于位置力控制问题的解决办法,采用弹簧阻尼模型实时计算机械手臂进入障碍物区域产生的虚拟力,通过采用外在力控制回路来调节手臂位置控制系统,达到消除虚拟力的目的,实现机械手避障。

Contrapose the obstacles blocking vulnerable to against the harvesting robot picking operation to impact on the efficiency, this paper presenting translated the problem of obstacle avoidance into the issue of position - based force control, virtual forces representing the intrusion of the arm into the obstacle safety zone are computed in real time using a spring - damper model, through the use of outer force control loop to regulate arms position control system to reach the purpose of to nullified the virtual force, so to achieve manipulator obstacle avoi - dance.