文献类型：期刊文献

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

机构：[1] Basic Experimental Center for Natural Science, University of Science and Technology Beijing, Beijing, China; [2] School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China; [3] Beijing Union University, Beijing Key Laboratory of Information Service Engineering, Beijing, China; [4] College of Robotics, Beijing Union University, Beijing, China

第一机构：Basic Experimental Center for Natural Science, University of Science and Technology Beijing, Beijing, China

年份：2022

起止页码：182-188

外文期刊名：Proceedings - 2022 International Conference on Virtual Reality, Human-Computer Interaction and Artificial Intelligence, VRHCIAI 2022

收录：EI(收录号：20231914077826)

语种：英文

外文关键词：Agricultural robots - Closed loop control systems - Computer control systems - Fruits - Harvesting - Vibrations (mechanical)

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. ? 2022 IEEE.