Abstract
In the control of the cantilever multi-axis of the arm picking robot, the traditional visual servo control method does not consider the interference caused by the external weather and the vibration of the same kind of fruit during the picking operation of the arm picking robot. For these problems, a cantilever multi-axis control method for a new arm picking robot is proposed in this paper. During the cantilever extension control of the picking robot, when the total energy is satisfied, the extension control is realized through the control torque of the extension area to ensure the smooth extension of the cantilever of the arm robot. The quadratic optimal control strategy based on linear model is used in the linear quadratic regulator (LOR). The picking area adopts approximate state space model to design LQR controller to control robot picking process. According to the cantilever motion of primate, the cantilever motion bionic dynamic modeling and dynamic servo control are realized, which can effectively solve the cantilever jumping problem in the cantilever multi-axis control of the arm picking robot. Experimental results show that the proposed method is efficient and flexible in the multi-axis control of the arm picking robot.
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Funding
The research is supported by: Huai'an natural science research plan project "Research on collaborative control of facility flowerpot handling system based on RGB-D" (NO.HABZ201921).
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The authors declared that they have no conflicts of interest to this work. we declare that we do not have any commercial or associative interest that represents a conflict of interest in connection with the work submitted.
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Zhang, H., Yu, L. Cantilever multi-axis control method for a new arm picking robot. Int J Syst Assur Eng Manag 14, 699–707 (2023). https://doi.org/10.1007/s13198-021-01475-3
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DOI: https://doi.org/10.1007/s13198-021-01475-3