基于改进光滑滑模阻抗控制的水果分拣机械人夹持机构控制方法

针对目前串类水果自动无损分拣机构存在的不足,在水果自动分拣机器人系统体系结构的基础上,提出了一种将时延估计和光滑滑模阻抗控制方法相结合的串类水果自动分拣机器人夹持机构控制方法。利用时延估计方法实时获取串类水果自动分拣系统夹持机构动力学模型,进一步设计了自适应规则调整的光滑滑模阻抗控制方法,通过仿真和试验进行了验证。结果表明,该方法可以使自动分拣机器人夹持结构高精度的稳定夹持,夹持成功率100%,对串类水果的损坏为0,有助于实现串类水果的准确、快速自动分拣。

A control technique for clamping mechanism of fruit sorting robot based on improved smooth sliding mode impedance control

In view of the shortcomings of the current automatic non-destructive fruit sorting mechanism,based on the system architecture of automatic fruit sorting robot,a control method for the clamping mechanism of automatic fruit sorting robot was proposed,which combined time delay estimation and smooth sliding mode impedance control method.The time delay estimation method was used to obtain the dynamic model of the clamping mechanism of the automatic fruit sorting system,and a smooth sliding mode impedance control method with adaptive rule adjustment was further designed,which was verified by simulation and experiment.The results showed that this method could make the automatic sorting robot clamping structure stable clamping with high precision,the success rate of clamping was 100%,and the damage to string fruit was zero,which was helpful to realize the accurate and fast automatic sorting of string fruit.