基于MatLab的多目标猕猴桃无损采摘路径规划
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摘要
针对棚架式猕猴桃种植模式,为了解决多目标猕猴桃采摘中可能损伤的问题,设计了一种猕猴桃采摘顺序的方法。该算法首先在XOY平面上求解所有目标猕猴桃的中心点,以该中心点为圆心,然后求解各目标猕猴桃XOY平面上距离该中心点的距离,并以此为半径寻找同心圆。采摘的顺序采用由外圆不断向内采摘,避免机械臂采摘目标点的过程中不会因碰撞其他目标而造成损伤。同时,采用空间直线进行路径规划采摘,以提高采摘的效率。
In order to solve the problem of possible damage in multi-target kiwifruit picking,aiming at the scaffolding cultivation mode of kiwifruits,an algorithm of picking kiwifruit was proposed in this paper. First,the center of kiwifruit in all the target kiwifruits was solved in XOY plane,set it as the center of the circle,and then the distance from the target kiwifruit XOY plane to the center was calculated. After that,the concentric circles which radii are the distance was found. The picking sequence is picking inwards by the outer circle continuously,so the damage won't be caused to any other kiwifruits during the process of picking the target point by the robotic arm. For improving the efficiency of the picking,a straight line path planning for space picking was applied in the paper.
In order to solve the problem of possible damage in multi-target kiwifruit picking,aiming at the scaffolding cultivation mode of kiwifruits,an algorithm of picking kiwifruit was proposed in this paper. First,the center of kiwifruit in all the target kiwifruits was solved in XOY plane,set it as the center of the circle,and then the distance from the target kiwifruit XOY plane to the center was calculated. After that,the concentric circles which radii are the distance was found. The picking sequence is picking inwards by the outer circle continuously,so the damage won't be caused to any other kiwifruits during the process of picking the target point by the robotic arm. For improving the efficiency of the picking,a straight line path planning for space picking was applied in the paper.
引文
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[16]Ko C H,Young K Y,Hsieh Y H.Optimized trajectory planning for mobile robot in the presence of moving obstacles[J].IEEE,2015,1:70-75.
[2]E J van Henten,J Hemming,B A J van Tuijl,et a1.An Autonomous Robot for Harvesting Cucumbers in Greenhouses[J].Autonomous Robots,2002,13(3):241-258.
[3]梁喜凤,王永维,苗香雯.番茄收获机械手机构尺寸优化设计[J].机械设计与研究,2008,24(1):21-24.
[4]张凯良,杨丽,张铁中.草莓收获机器人采摘执行机构设计与试验[J].农业机械学报,2011(9):155-161.
[5]李桢,王滨,陈子啸,等.基于Matlab的猕猴桃采摘机械臂运动学仿真研究[J].农机化研究,2015,37(12):227-231.
[6]黄献龙,梁斌,陈建新,等.EMR系统机器人运动学和工作空间的分析[J].控制工程,2000(3):1-6.
[7]梁斌,刘良栋,李庚田.空间机器人的动力学等价机械臂[J].自动化学报,1998,24(6):761-767.
[8]Lemay J,Notash L.Configuration engine for architecture planning of modular parallel robots[J].Mechanism&Machine Theory,2004,39(1):101-117.
[9]杭鲁滨,王彦,杨廷力.基于Groebner基法的一般串联6R机器人机构逆运动学分析[J].上海交通大学学报,2004,38(6):853-856.
[10]曹毅.显微外科手术机器人工作空间分析与综合[D].天津:天津大学,2004.
[11]刘淑春,马香峰.求解机器人工作空间的包络法[J].北京:北京科技大学学报,1993(2):201-207.
[12]邢宏光.五自由度机器人灵活工作空间分析与仿真[D].北京:北京航空航天大学,2004.
[13]Kim J,Khosla P K.A Multi-population Genetic Algorithm And Its Application To Design Of Manipulators[J].Leee/rsj International Conference on Intelligent Robots and Systems,1992(1):279-286.
[14]Gregory J,Olivares A,Staffetti E.Energy-optimal trajectory planning for robot manipulators with homonymic constraints[J].Systems&Control Letters,2012,61(2):279-291.
[15]Gasparetto A,Zanot o V.A technique for time-jerk optimal planning of robot trajectories[J].Robotics and ComputerIntegrated Manufacturing,2008,24:415-426.
[16]Ko C H,Young K Y,Hsieh Y H.Optimized trajectory planning for mobile robot in the presence of moving obstacles[J].IEEE,2015,1:70-75.