Research on the application of impedance control in flexible grasp of picking robot

IF 2 4区工程技术 Q3 ENGINEERING, MECHANICAL

Advances in Mechanical Engineering Pub Date : 2023-04-01 DOI:10.1177/16878132231161016

Min Zhuang, Ge Li, Kexin Ding, Guansheng Xu

{"title":"Research on the application of impedance control in flexible grasp of picking robot","authors":"Min Zhuang, Ge Li, Kexin Ding, Guansheng Xu","doi":"10.1177/16878132231161016","DOIUrl":null,"url":null,"abstract":"Aiming at the damage of fruit picking robot during the picking process, an impedance control method of picking robot with parameter self-tuning is proposed. The rheological properties of fruit during picking by manipulator were studied by Burger’s viscoelasticity theory, and the variation characteristics of fruit deformation during picking, as well as the changing law between fruit contact force and deformation were obtained. On this basis, the impedance control system model of the picking manipulator is established, and the impedance controller is designed. Finally, by constructing the self-correcting change function of impedance parameters, the influence of different impedance parameters on the change of the contact force is studied, and then the control system is improved and designed. The simulation and experimental results show that the established impedance control system model can effectively realize the non-destructive grasping of fruit, and has high grasping accuracy. The expected grasping force is smoother, the overshoot of the contact force is greatly reduced, and the adjustment time is also shortened, which indicates that the control method proposed in this paper has certain application value in the control of picking robots.","PeriodicalId":49110,"journal":{"name":"Advances in Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":2.0000,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Advances in Mechanical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/16878132231161016","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}

引用次数: 1

Abstract

Aiming at the damage of fruit picking robot during the picking process, an impedance control method of picking robot with parameter self-tuning is proposed. The rheological properties of fruit during picking by manipulator were studied by Burger’s viscoelasticity theory, and the variation characteristics of fruit deformation during picking, as well as the changing law between fruit contact force and deformation were obtained. On this basis, the impedance control system model of the picking manipulator is established, and the impedance controller is designed. Finally, by constructing the self-correcting change function of impedance parameters, the influence of different impedance parameters on the change of the contact force is studied, and then the control system is improved and designed. The simulation and experimental results show that the established impedance control system model can effectively realize the non-destructive grasping of fruit, and has high grasping accuracy. The expected grasping force is smoother, the overshoot of the contact force is greatly reduced, and the adjustment time is also shortened, which indicates that the control method proposed in this paper has certain application value in the control of picking robots.

查看原文本刊更多论文

阻抗控制在采摘机器人柔性抓取中的应用研究

针对水果采摘机器人在采摘过程中的损伤，提出了一种参数自整定的采摘机器人阻抗控制方法。利用Burger粘弹性理论研究了机械手采摘过程中水果的流变特性，得到了采摘过程中果实变形的变化特征以及水果接触力与变形的变化规律。在此基础上，建立了拾取机械手的阻抗控制系统模型，设计了阻抗控制器。最后，通过构造阻抗参数的自校正变化函数，研究了不同阻抗参数对接触力变化的影响，并对控制系统进行了改进和设计。仿真和实验结果表明，所建立的阻抗控制系统模型能够有效地实现水果的无损抓取，具有较高的抓取精度。预期的抓取力更平稳，接触力的超调大大减少，调整时间也缩短，这表明本文提出的控制方法在采摘机器人的控制中具有一定的应用价值。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Advances in Mechanical Engineering 工程技术-机械工程

CiteScore

3.60

自引率

4.80%

发文量

353

审稿时长

6-12 weeks

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering