农机化研究2017，Vol.39Issue(6)：228-232,5.
基于滑觉检测的农业机器人果蔬柔性抓取控制研究
Design of the Control System of Fruit and Vegetable Flexible Grasping of Agricultural Robot Based on Slip Detection
摘要
Abstract
Fruit and vegetable picking fruit cultivation of vegetable production in the most complicated , the most time consuming , the cost of effort on the part of the one , which has a direct impact on the future value and sales of fruit and vegetable .With the rapid development of economy , migrant workers increased , reduced agricultural labor force , labor in the fruit and vegetable planting costs accounted for an increasingly large proportion .Fruit and vegetable automatic picking is an important measure to reduce the cost and release the agricultural labor force .In the 1980s, the United States has succeeded in producing the first Tomato Picking Robot , in recent years , with the rapid development of information tech-nology and automation technology , agricultural harvesting robot research and development has made great progress , but research on fruit and vegetable soft grasping into development is slow .This paper based on slipping sensing detection technology of fruits and vegetables , damage mechanism , the agricultural robot picking control system as the research plat-form , the use of discrete wavelet transform algorithm , from the start of sensor and grasping force control , in-depth study and design the agricultural robot flexible nondestructive picking control system .The experiments show that the control system stable operation , high reliability , for the fruit flexible pick has very important significance .关键词
果蔬采摘/柔性抓取/滑觉检测/小波变换Key words
fruit and vegetable picking/flexible grasping/slip detection/wavelet transform分类
农业科技引用本文复制引用
张娓娓,袁路路..基于滑觉检测的农业机器人果蔬柔性抓取控制研究[J].农机化研究,2017,39(6):228-232,5.基金项目
河南省自然科学基金项目（2015ZCB115）；南阳市科技攻关项目 （）
