采摘机械手三维运动测量系统的研究
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摘要
当代农业作业逐渐向规模化、机械化发展,人力成本不断增长,农业机器人的应用发展也越来越快。研究开发适合目前农业生产要求的果蔬采摘机器人,可以提高生产效率、减小劳动强度、降低人工收获的劳动力成本。本文以MOTOMAN-UPJ作为采摘机械手试验本体,采用MTi(Motion Tracking instrument)传感器系统对机械手末端的各种运动进行测量并对结果进行分析,设计以欧拉角为测量对象的运动测量系统,为采摘机械手的实时运动跟踪测量提出一种新的思路。
本文对MOTOMAN-UPJ机械手进行结构分析,采用D-H方法建立数学模型,在MATLAB Robotics Toolbox平台上对MOTOMAN-UPJ机械手的正逆运动学进行仿真,并对采摘机械手末端PTP运动进行仿真研究。结合机械手运动学仿真分析,分析MTi系统的测量输出特性,对采摘机械手末端的绕轴运动、直线运动、避障运动及姿态调整进行测量分析,观察欧拉角、角速度、线性加速度的变化规律,并完成基于MTi系统的三维运动测量方法的研究。采用NI公司的LabVIEW软件完成采摘机械手的三维运动测量系统的设计,实现与MTi系统的USB通信,利用ActiveX技术调用MTi系统提供的动态链接库中的数据读取、通信设置、数据输出等函数,完成方位数据和校准数据的实时测量输出及显示。
结合MTi传感器系统设计采摘机械手的运动测量试验,包括采摘作业典型运动过程的测量以及采摘机械手到达目标后对末端执行器的姿态调整过程的测量,对输出的数据进行处理并与理论值比较。试验结果表明MTi传感器及该运动测量系统可满足采摘机械手作业要求。该系统测量精度较高、人机界面良好,为以后基于MTi的采摘机械手轨迹规划和运动控制打下了基础。
The present agriculture development will be more systematic and mechanizable, and the cost of manpower increased. With the background of this actuality, the development of agriculture robot develops quickly. The research of harvesting robot that fits the request of agriculture work could improve the production efficiency, reduce the intensity of labor and the cost of manpower. The paper designs the system of the motion measurement with Euler angles observed. MOTOMAN-UPJ is used as the harvesting robot's manipulator. The design of 3D motion measurement method has been completed with Euler angles. Motions of manipulator's end-effector was measured and analyzed with MTi system. A new idea of motion tracking of harvesting robot in real-time has been put forward.
According to the structure characteristics of harvesting robot with MOTOMAN-UPJ, this paper puts forward the mathematical model by using D-H method. The inverse kinematics is simulated and validated in MATLAB Robotics Toolbox. And the end-effector's motion by point-to-point is also researched by simulating. With kinematics analyzed and outputs from MTi, the method of motion measurement is developed. Then, the harvesting manipulator system for the measurement of 3D motion is designed by using LabVIEW software. It achieves communications with MTi system by USB. MTi provides some functions which can be called by ActiveX technic. These functions accomplish exporting and displaying orientation data and calibrated data.
The experiment of harvesting robot's motion has been developed with MTi system, included classic harvest process measurement and pose adjust measurement after arrival object. Harvesting robot is measuring while the system running, outputs are analyzed. After the experiment, the track of manipulator's end-effector is plotted. The experiment proved that the system have higher accuracy and friendly human-computer interface. It provides experimentation basis for path and motion control of harvesting robot.
本文对MOTOMAN-UPJ机械手进行结构分析,采用D-H方法建立数学模型,在MATLAB Robotics Toolbox平台上对MOTOMAN-UPJ机械手的正逆运动学进行仿真,并对采摘机械手末端PTP运动进行仿真研究。结合机械手运动学仿真分析,分析MTi系统的测量输出特性,对采摘机械手末端的绕轴运动、直线运动、避障运动及姿态调整进行测量分析,观察欧拉角、角速度、线性加速度的变化规律,并完成基于MTi系统的三维运动测量方法的研究。采用NI公司的LabVIEW软件完成采摘机械手的三维运动测量系统的设计,实现与MTi系统的USB通信,利用ActiveX技术调用MTi系统提供的动态链接库中的数据读取、通信设置、数据输出等函数,完成方位数据和校准数据的实时测量输出及显示。
结合MTi传感器系统设计采摘机械手的运动测量试验,包括采摘作业典型运动过程的测量以及采摘机械手到达目标后对末端执行器的姿态调整过程的测量,对输出的数据进行处理并与理论值比较。试验结果表明MTi传感器及该运动测量系统可满足采摘机械手作业要求。该系统测量精度较高、人机界面良好,为以后基于MTi的采摘机械手轨迹规划和运动控制打下了基础。
The present agriculture development will be more systematic and mechanizable, and the cost of manpower increased. With the background of this actuality, the development of agriculture robot develops quickly. The research of harvesting robot that fits the request of agriculture work could improve the production efficiency, reduce the intensity of labor and the cost of manpower. The paper designs the system of the motion measurement with Euler angles observed. MOTOMAN-UPJ is used as the harvesting robot's manipulator. The design of 3D motion measurement method has been completed with Euler angles. Motions of manipulator's end-effector was measured and analyzed with MTi system. A new idea of motion tracking of harvesting robot in real-time has been put forward.
According to the structure characteristics of harvesting robot with MOTOMAN-UPJ, this paper puts forward the mathematical model by using D-H method. The inverse kinematics is simulated and validated in MATLAB Robotics Toolbox. And the end-effector's motion by point-to-point is also researched by simulating. With kinematics analyzed and outputs from MTi, the method of motion measurement is developed. Then, the harvesting manipulator system for the measurement of 3D motion is designed by using LabVIEW software. It achieves communications with MTi system by USB. MTi provides some functions which can be called by ActiveX technic. These functions accomplish exporting and displaying orientation data and calibrated data.
The experiment of harvesting robot's motion has been developed with MTi system, included classic harvest process measurement and pose adjust measurement after arrival object. Harvesting robot is measuring while the system running, outputs are analyzed. After the experiment, the track of manipulator's end-effector is plotted. The experiment proved that the system have higher accuracy and friendly human-computer interface. It provides experimentation basis for path and motion control of harvesting robot.
引文
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[2]徐丽明,张铁中.果蔬果实收获机器人的研究现状及关键问题和对策[J].农业工程学报,2004,20(5):38-42.
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[4]Bulanon,D.M.,Kataoka,T.,Okamoto,H.,Hata,S..Development of a Real-time Machine Vision System for the Apple Harvesting Robot[C].SICE Annual Conference in Sapporo,2004,595-598.
[5]Yael Edan,Tamar Flash,Uri M.Peiper,etc.Near-Minimum-Time Task Planning for Fruit-Picking Robots[J].IEEE Transactions on Robotics and Automation,v7,No.1,Feb.1991,48-55.
[6]Seiichi Arima,Naoshi Kondo,Sakae Shibusawa,etc.Traceability Based on Multi-Operation Robot[C].International Conference on Advanced Intelligent Mechatronics,2003,1204-1209.
[7]Michael Recce,John Taylor,Alessio Plebe,etc.Vision and neural control for an orange harvesting robot[J].lEEE,1996,467-475.
[8]刘旭.智能移动机器人路径规划及仿真[D].南京理工大学,2004.
[9]邹湘军,罗锡文,卢俊等.虚拟环境下农业移动机器人行为及其仿真建模[J]系统仿真学报,2006,18(S2):551-553.
[10]吴雪梅,李天强.基于机器视觉的成熟番茄自动识别技术[J].计算机工程与设计,2006,27(22):4300-4302.
[11]罗锡文,区颖刚,赵祚喜等.农用智能移动作业平台模型的研制[J].农业工程学报,2005,21(2):83-85.
[12]周庆瑞,原魁,刘俊承.移动机器人视觉导航控制研究[J].计算机工程与应用,2005,15:5-8.
[13]尚文,马旭东,戴先中等.基于视觉的移动机器人地面轨线跟踪与导航研究[J].机器人,2003,25(5):432-437.
[14]王荣本,徐友春等.基于线性模型的导航路径图像检测算法研究[J].公路交通科技,2001,18(2):47-51.
[15]雷鸣,王月娟,蒋平.视觉引导的机器人轨迹跟踪路径规划的一种新方法[J]. 机器人,1995,6:332-336.
[16]张建忠,颜景平.基于视觉的未标定机械臂路径规划[J].机械制造与研究,2006,6:25-28.
[17]Noboru Kawamura,Kiyoshi Namikawa,Tateshi Fujiura,Motonobu Ura.Study on agricultural robot(partl).J.Jpn.Soc.Agric.Mach.,1984,46(3):353-358.
[18]Noboru Kawamura,Kiyoshi Namikawa,Tateshi Fujiura,Motonobu Ura.Study on agricultural robot(part2).J.Jpn.Soc.Agdc.Mach.,1984,47(2):177-182.
[19]Van Henten E.J.,Hemming J.,Van Tuijl B.A.J,Komet J.G.,Meuleman J.,etc.An autonomous robot for harvesting cucumbers in greenhouses[J].Autonomous Robots,v13,n3,2002:241-258.
[20]梁喜凤.番茄收获机械手机构分析与优化设计研究[D].浙江大学,2004.
[21]曹其新,吕恬生,永田雅辉,王红永.草莓拣选机器人的开发[J]上海交通大学学报,1999,33(7):880-883.
[22]陈利兵.草莓收获机器人采摘系统研究[D].中国农业大学,2005.
[23]仲琴.基于机器视觉的番茄收获机器人[D].江苏大学,2005.
[24]方建军.移动式采摘机器人研究现状与进展[J].农业工程学报,2004,20(2):273-278.
[25]Monta,M.(Okayama Univ);Kondo,N.;Shibano,Y.Agricultural robot in grape production system[C].Proceedings-IEEE International Conference on Robotics and Automation,v3,1995,2504-2509.
[26]Van Kollenburg-Crisan L M,Bontsema J,Wennekes P.Mechatronic system for automatic harvesting of cucumbers[A].IFAC Control Applications and Ergonomics in Agriculture[C].Athens,Greece:1998.289-293.
[27]赵匀,武传宇,胡旭东,等.农业机器人的研究进展及存在的问题[J].农业工程学报.2003,19(1):20-24.
[28]曾孔庚,郭志恒,王上哲,谷宝峰,肖慧力.MOTOMAN的UP系列机器人功能介绍[J].机器人技术与应用,2001,(6):40-43.
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[30]孙迪生,王炎.机器人控制技术[M].北京:机械工业出版社,1997.
[31]蔡自兴.机器人学[M].北京:清华大学出版社,2000.
[32]孙富春,朱纪洪,刘国栋等译.机器人学导论—分析、系统及应用[M].北京:电子工业出版社,2004.
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[34]孟繁华.机器人应用技术[M].哈尔滨:哈尔滨工业大学出版社,1989.
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