文献类型：会议论文

英文题名：Two-loop Control of Harvesting Mechanical Arm base on Adaptive Input Shaping Algorithm

作者：Sun, Mingming[1,2];Liu, Dexin[3,4]

第一作者：Sun, Mingming

通讯作者：Sun, MM[1];Sun, MM[2]

机构：[1]Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing, Peoples R China;[2]Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China;[3]Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing, Peoples R China;[4]Beijing Union Univ, Coll Robot, Beijing, Peoples R China

第一机构：Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing, Peoples R China

通讯机构：[1]corresponding author), Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing, Peoples R China;[2]corresponding author), Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China.

会议论文集：International Conference on Virtual Reality, Human-Computer Interaction and Artificial Intelligence (VRHCIAI)

会议日期：OCT 28-30, 2022

会议地点：Changsha, PEOPLES R CHINA

语种：英文

外文关键词：harvesting mechanical arm; adaptive input shaping; double closed-loop control; vibration suppression

摘要：When the harvesting mechanical arm clamps the tomato bunches and puts them into the picking basket, the acceleration and deceleration movement of the mechanical arm makes the tomato bunches swing in the moving process, which is easy to break the fruit stalks and cause them to fall off. First, in order to accurately track the desired position of the mechanical arm, the PID control was designed and implemented. Then the tomato stem is approximated as a flexible connecting rod with tomatoes as the load. Due to the different quality of the bunches picked each time, the system model changes with the load. The traditional input shaping algorithm could not suppress the vibration of tomato. Therefore, the adaptive input shaping control method is adopted to realize double closed-loop control and achieve the purpose of vibration suppression. The simulation results show that the algorithm has good suppression ability of end vibration and satisfactory control effect of manipulator displacement under variable load.