摘要
农业采摘机器人是21世纪精准农业的重要装备之一,采用仿真模拟机器人运动,合理规划机器人的运动轨迹成为采摘机器人行业发展的方向。采用D-H方法分析三自由度脐橙采摘机器人的变换矩阵,得到三自由度脐橙采摘机器人执行末端位移。采用微分变换的方法求解三自由度脐橙采摘机器人的雅克比矩阵,得到执行末端线速度和角速度。基于Matlab中M语言自编程建立其运动模型,对其运动轨迹及速度进行仿真。通过对脐橙采摘机器人的构造原理分析,为脐橙采摘机器人的调试和实际操作提供仿真模型。
Agricultural picking robot is one of the important equipment of precision agriculture in the 21st century. These has be-come the developing direction of the picking robot industry that the simulation robot movement and the reasonable planning of the robot trajectory. The D-H method was used to analyze three degrees of freedom （3-DOF）of the transformation matrix of navel orange picking robots,and the displacement of end manipulation of 3-DOF navel orange picking robots was obtained. The Jacobi matrix of the 3-DOF navel orange picking robots was solved by using differential transform method,and the angular and linear velocities of end manipulation were obtained. The trajectory and speed were simulated based on M language of MATLAB for self-programming to establish kinematic model of the robot. Through analysis of the theory of the structure of navel orange picking robots,the debugging and actual operation simulation model are provided.
出处
《机床与液压》
北大核心
2014年第21期64-67,共4页
Machine Tool & Hydraulics
基金
江西省教育厅青年基金资助项目(GJJ12357)
关键词
位置分析
运动轨迹
微分变换
D-H方法
Position analysis
Trajectory
Differential transform
D-H method
