履带式移动采摘机械手控制算法及仿真研究

Control Algorithm and Simulation of Tracked Robot

机械手的运动空间有限且相对固定,通过增设移动平台的移动机械手可弥补该不足。以履带式移动机械手为研究对象,对移动平台进行建模;推导出履带式移动机械手的运动学方程,针对移动平台和机械手分别设计了自适应模糊控制和RBF神经网络控制,利用MATLAB进行数字化仿真,并对实验数据进行分析,验证所提出算法的可行性。为农业机械工程化提供依据,也为履带移动机械手的协调控制奠定基础。

As the movement space of manipulator is limited and relatively fixed,the tracked manipulator by adding a mobile platform can make up for this deficiency.With the mobile tracked robot as the research object,the kinematic equation of the tracked robot is deduced by modeling the mobile platform.The adaptive fuzzy control and RBF neural network control are designed respectively by digital simulation through MATLAB.The analysis on the experimental data verifies the feasibility of the proposed algorithm,which provides a basis for the engineering of agricultural pmachinery,and lays the foundation for the coordinated control of tracked robot.