基于模糊PID的采摘机器人机械手控制系统设计

Control System Design of Picking Robot Manipulator Based on Fuzzy PID

为了提高采摘机器人机械手果实的定位精度,降低果实采摘过程的破损率,将模糊算法和PID控制引入到了机械手控制系统的设计上,并采用PC上位机编程和嵌入式系统实现控制算法的运行。为了验证算法的可行性和可靠性,以果实采摘真实环境为测试环境,对机械手的定位精度和果实采摘的破损率进行了测试,结果表明:采用模糊PID算法可以明显提高机械手的果实定位精度,降低果实采摘的破损率,对采摘机器人控制系统的优化设计具有重要的参考价值。

In order to improve the positioning accuracy and reduce the damage rate of the fruit picking process,it introduced the fuzzy algorithm and PID control into the design of the manipulator control system,and the PC upper computer programming and embedded system are used to realize the operation of the control algorithm.In order to verify the feasibility and reliability of the algorithm,taking the real environment of fruit picking as the test environment,it tested the positioning accuracy of the manipulator and the damage rate of fruit picking.The test results show that the fuzzy PID algorithm can significantly improve the positioning accuracy of the manipulator and reduce the damage rate of fruit picking,which has very important reference value for the optimal design of the control system of the picking robot.