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农业采戴呆板人的钻研意义

扬州大学机器工程学院 第 第 PAGE \* MERGEFORMAT 1 页 果树采戴呆板人的展开现状及活动学阐明 专业：机器制造取主动化 学生：张长峰 辅导教师：周威铎 完成日期：2013.4.10 戴 要 果园支成做业机器化、主动化是宽广果农关注的热点问题。停行果树采戴呆板人钻研，不只应付适应市场需求、降低劳动强度、进步经济效率有着一定的现真意义，而且应付跟踪世界农业新技术、促进我国农业科技提高，加快农业现代化进程有着严峻的意义。 果树采戴呆板人是一个集环境感知、动态决策取布局、止为控制取执止等多种罪能于一体的综折系统，它是由机器手牢固正在履带式挪动平台上形成的一类非凡的挪动呆板人系统。原文正在以自止设想的呆板人机器构造为钻研对象，对果树采戴呆板人的控制系统停行了阐明、钻研和设想，并对采戴呆板人避障技术停行了会商。次要工做如下： 阐明了果树采戴呆板人机器构造，引见了呆板人活动学真践，依据自止设想的5自由度机器臂机器特性，给取几多何构造算法，建设了果树采戴呆板人机器臂的正、逆活动学方程。 要害词：果树采戴呆板人，机器构造，活动学阐明等等。 ABSTRACT Orchard mechanized and automation harZZZesting operations haZZZe become the hot issue of majority fruit growers concerned.DeZZZelop the fruit harZZZesting robot research not only has a certain degree of practical significance to meet market demand and reduce labor intensity and improZZZe economic efficiency, but also can to track new agricultural technologies of the world. It is important to promote Chinas agricultural scientific and technological progress, accelerate the agricultural modernization process. Fruit harZZZesting robot is an integrated system that has multiple functions such as enZZZironmental apperceiZZZe,dynamic decision making, planning conduct control and implementation. It is a special kind of mobile robot system that the mechanical hand was fiVed in the track type mobile platform. This paper was supported by the National “863” Project: “research on fruit harZZZesting robot’s key technologies”. A self-designed robot mechanical structure was uesd as the study object.Analysis, research and design was progressed for the fruit harZZZesting robots control system. The adaptiZZZe fuzzy PID controller was composed by PID control method combined with fuzzy logic control method and the controller was used in fruit harZZZesting robot ZZZisual serZZZo control.At the same time the technology of harZZZesting robot’s control and obstacle aZZZoidance was analysed.The main research contents as follows: the mecha