采茶机器人SCARA机械手的轨迹规划与控制

Trajectory planning and control for SCARA manipulator of tea picking robot

考虑到采茶机器人的整体性能,采用SCARA机械手作为其采摘机构,以满足名优茶自动化采摘的需求。首先采用D-H法建立机械手的运动学模型,并结合MATLAB Robotic Toolbox建立其空间仿真模型;其次采用五次多项式插值算法对机械手主要关节的运动进行轨迹规划;最后将SCARA机械手简化为XOY平面内的两关节机械手,结合其一般动力学模型,在MATLAB/Simulink中采用S函数设计基于自适应算法补偿的PD控制系统,进行轨迹跟踪仿真实验。实验结果表明自适应鲁棒PD控制策略能够精确地跟踪机械手大臂和小臂关节的控制输入,使得各关节能够快速地跟踪到期望位置,跟踪误差较小。

Considering the whole performance of a tea picking robot,this paper uses the SCARA manipulator as its picking mechanism to meet the needs of picking famous tea automatically.Firstly,the D-H method is used to establish the kinematics model of the manipulator,and its spatial model is established by using MATLAB Robotic Toolbox.Secondly,the fifth-order polynomial interpolation algorithm is used to plan the trajectories of main joints of the manipulator.Finally,the SCARA manipulator is simplified to a two-joint manipulator in XOY plane.Combining its general dynamics model,this paper uses S-function in MATLAB/Simulink to design a PD control system based on adaptive algorithm compensation,and performs trajectory tracking simulation experiments.The experimental results show that the adaptive robust PD control strategy can accurately track the control inputs of the manipulator′s boom and forearm joints,so that each joint can quickly track to the desired position.The tracking error is small.