基于电气控制的采摘机器人作业系统优化

Optimization of Picking Robot Operation System Based on Electrical Control

以采摘机器人作业系统为研究对象,对采摘过程中机器人各关节运动控制需求进行分析,并结合采摘机器人的作业环境、工作模式以及工作过程要求,设计了一种高精度、能够快速响应并具有较高的抗干扰性能控制系统。选用直流永磁同步电机作为作业系统关机驱动电机,并对采摘机器人作业控制系统的硬件及软件进行设计,搭建作业控制系统。实验结果表明:控制系统能够快速准确地进行采摘系统定位,并有效地抵抗系统部件产生的机械振动冲击。

This paper takes the picking robot operation system as the research object,through the analysis of the robot joint motion control requirements in the picking process,combined with the working environment,working mode and working process requirements of the picking robot,based on the electrical control technology,designs a high-precision,fast response and high anti-interference performance control system.DC permanent magnet synchronous motor is selected as the driving motor for shutdown of the operation system,and the hardware and software of the operation control system of the picking robot are designed,and the operation control system is built.The experimental data show that the control system can quickly and accurately locate the picking system,and can effectively resist the mechanical vibration impact produced by the system components in the operation process.