{"title":"3-DOF 收割机器人的运动学分析和控制研究","authors":"Jinghao Hu","doi":"10.62051/adzgrf52","DOIUrl":null,"url":null,"abstract":"In this paper, a three-degree-of-freedom harvesting robot is proposed and its feasibility for harvesting fruit from shorter plants is verified, although agricultural robots are widely used in various agricultural production activities, there is a lack of adequate analysis in this field. The kinematic analysis is carried out and the kinematic parameters and trajectory equations of the manipulator are determined. A control method of the manipulator’s arm based on fuzzy neural network control is proposed, and its feasibility is verified by Matlab through working range analysis and error test. Our goal is to improve the efficiency, convenience, and cost-effectiveness of harvesting dwarf crops by studying this small harvesting robot.","PeriodicalId":503289,"journal":{"name":"Transactions on Engineering and Technology Research","volume":"10 9","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematic Analysis and Control Study of a 3-DOF Harvesting Robot\",\"authors\":\"Jinghao Hu\",\"doi\":\"10.62051/adzgrf52\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a three-degree-of-freedom harvesting robot is proposed and its feasibility for harvesting fruit from shorter plants is verified, although agricultural robots are widely used in various agricultural production activities, there is a lack of adequate analysis in this field. The kinematic analysis is carried out and the kinematic parameters and trajectory equations of the manipulator are determined. A control method of the manipulator’s arm based on fuzzy neural network control is proposed, and its feasibility is verified by Matlab through working range analysis and error test. Our goal is to improve the efficiency, convenience, and cost-effectiveness of harvesting dwarf crops by studying this small harvesting robot.\",\"PeriodicalId\":503289,\"journal\":{\"name\":\"Transactions on Engineering and Technology Research\",\"volume\":\"10 9\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-12-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Transactions on Engineering and Technology Research\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.62051/adzgrf52\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions on Engineering and Technology Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.62051/adzgrf52","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic Analysis and Control Study of a 3-DOF Harvesting Robot
In this paper, a three-degree-of-freedom harvesting robot is proposed and its feasibility for harvesting fruit from shorter plants is verified, although agricultural robots are widely used in various agricultural production activities, there is a lack of adequate analysis in this field. The kinematic analysis is carried out and the kinematic parameters and trajectory equations of the manipulator are determined. A control method of the manipulator’s arm based on fuzzy neural network control is proposed, and its feasibility is verified by Matlab through working range analysis and error test. Our goal is to improve the efficiency, convenience, and cost-effectiveness of harvesting dwarf crops by studying this small harvesting robot.
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