六自由度农业采摘机器人驱动控制仿真研究

6-Dedree of Freedom Driven Control System of Agricultural Harvesting Robot Simulation

农业采摘机器人是21世纪精准农业的重要装备之一,利用仿真技术分析机器人的运行情况和合理的优化机器人是未来机器人的研究的重点。为此,采用Matlab/Simulink环境下的Simulink工具箱、SimPowerSystems模块库和powerlib模块库三者相结合的方法,建立了通用型六自由度机械手农业采摘(GMFS-360)机器人仿真模型并进行了仿真分析,利用Matlab的函数模块对机器人的运行性能进行了优化设定。然后,建立了农业采摘机器人的驱动控制系统仿真模型、定位控制系统仿真模型、速度和惯性矩系统仿真模型,实现了虚拟环境下机器人的各个旋转轴的驱动运行,通过仿真分析证明了控制算法和仿真模型的正确性。通过对农业采摘机器人仿真分析,可以直观地了解采摘机器人的构造原理及其运行状况,为农业采摘机器人的调试和具体实际操作提供理论依据和模型。

Agricultural harvesting robot is one of the important equipments of precision agriculture in the 21st century.Analysis of the use of simulation technology and reasonable operation of the robot optimization robot is the focus of future research robots.In this paper,a general-purpose 6-DOF manipulator pick agriculture （GMFS-360） robot simulation model and simulation analysis carried out using Matlab /Simulink environment Simulink toolbox,Sim power systems module libraries and library modules powerlib method of combining the three and using of Matlab function module to optimize the robot＇s operating performance.Then,the establishment of agricultural harvesting robot drive control system simulation model,positioning control system simulation model,speed,and moment of inertia of system simulation models to achieve a virtual environment,each robot axis of rotation of the drive to run.Through the simulation analysis shows that the control algorithms and simulation models are correct.Through the simulation analysis of agricultural harvesting robot can be an intuitive understanding of principles of harvesting robot and its operation status of the structure for agricultural harvesting robot and the specific practical debugging provides a theoretical basis and model.