The article analyzed the fruit harvesting robot’s kinematic relation between the target position and the joint angle of the robot, and then a coordinate transformation formula was given. According to the servo control’s features, the fuzzy—PID control method was introduced into the robot servo control. Fuzzy control strategy which can tune PID parameters on-line-self adaptively was adopted to enhance the control system’s dynamic and static performances. Simulative and experimental results validated the rationality and the effectiveness of the design.
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赵庆波,赵德安,姬伟,张超,申景凤.采摘机器人视觉伺服控制系统设计[J].农业机械学报,2009,40(1):152-156.[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(1):152-156.