Research on adaptive input shaping control of fruits and vegetable harvesting robot arm

被引：5
|
作者：
Liu D.-X. [1 ]
Zhang J.-C. [1 ]
Li Y. [1 ]
Fang J.-J. [2 ]
机构：
[1] College of Robotics, Beijing Union University, Beijing
[2] College of Urban Rail Transit and Logistics, Beijing Union University, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 06期
关键词：
adaptive input shaping; harvesting robot arm; variable flexible load; vibration control;
D O I：
10.7641/CTA.2021.10692
中图分类号：
学科分类号：
摘要：
The acceleration and deceleration motion of the end of the actuator causes the fruit swing during the movement after vegetable harvesting robot arm clamp the stem, which is easy to lead to fruit falling and failure of picking. In this paper, a single tomato is treated as a payload and stem as flexible link. An adaptive input shaping algorithm for vibration control of variable flexible load of the fruits and vegetable harvesting robot arm was proposed as the mass of each fruit is different. Traditional input shaping algorithm could not restrain vibration of flexible link in the process of movement while the system model changed during load varied. Then an adaptive input shaping algorithm where amplitude and timing of impulses are tuned during operation to match the system under control. Solutions giving zero residual vibration are formulated in terms of a quadratic cost function and constructed by iterative operations on measured sets of robot arm and slant angle of load data. The adaptive input shaping algorithm is tested on a one-dimensional numerical control slide rail, and the results show the adaptive input shaping algorithm can solve load-varying vibration control problem. Simulations are carried out and tail vibration suppressing ability is qualified. © 2022 South China University of Technology. All rights reserved.
引用
收藏
页码：1043 / 1050
页数：7
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