摘要
以苹果采摘机器人末端执行器稳定抓取为目标,建立了二指末端执行器抓取苹果的力学模型,提出了利用加速度传感器反馈进行优化控制的方法并设计基于BP神经网络和PID控制的自适应控制器。
Aiming at the steady grabbing of the end-actuator of apple-picking robot,the mechanical model of apple gabbing for two-finger end-actuators was established.Based on the mechanical model,the optimal control method with acceleration sensor feedback was proposed and one kind of adaptive optimization controller based on BP neural network and PID control was designed.
出处
《江西农业学报》
CAS
2010年第7期105-106,共2页
Acta Agriculturae Jiangxi
关键词
建模
加速度传感器
自主抓取
自适应优化
End-actuator
Mechanical model
Controller
Adaptive optimization
