基于迭代学习PID算法的苹果采摘机器人设计

Design of Apple Picking Robot Based on Iterative Learning PID Algorithm

为了提高采摘机器人机械手控制系统的精准性和采摘机器人的移动效率,设计出基于迭代学习PID算法的苹果采摘机器人。借助MatLab软件平台进行模型搭建及控制系统仿真测试,实验室条件下进行硬件结构设计,并完成采摘过程测试、路径规划避障测试和采摘果实破损率统计分析。实验验证表明:基于迭代学习PID算法设计的采摘机器人可准确锁定采摘目标,迅速实施稳定的采摘动作,以最佳采摘角度最大程度地保证采摘果实完整性。基于迭代学习PID算法设计的苹果采摘机器人有效提高了采摘的精度和效率,使苹果整体完好率达到98.3%以上,最大限度保证了采摘苹果的质量。

In order to improve the precision of the control system of the picking robot manipulator and the mobile efficiency of the picking robot,an apple picking robot based on iterative learning PID algorithm is designed.With the help of MATLAB software platform for model building and control system simulation test,the hardware structure design is carried out under laboratory conditions,and the harvesting process test,path planning obstacle avoidance test and statistical analysis of harvesting fruit damage rate are completed.Experiments show that the picking robot based on iterative learning PID algorithm can accurately lock the picking target,quickly implement stable picking action,and ensure the integrity of the picking fruit to the greatest extent by optimizing the picking angle.The apple picking robot based on iterative learning PID algorithm effectively improves the precision and efficiency of apple picking,and makes the overall intact rate of apple more than 98.3%,which guarantees the quality of apple picking to the greatest extent.