农机化研究2024，Vol.46Issue(4)：203-206,4.
采摘机器人机械手避障方法研究
Research on Obstacle Avoidance Method of Picking Robot Manipulator Based on Fuzzy PID Controller
摘要
Abstract
In order to improve the automation degree of picking robot manipulator movement and make it avoid obstacles effectively in the process of movement,it introduced the obstacle avoidance system based on PID controller into the de-sign of manipulator,and used the genetic algorithm and fuzzy algorithm to optimize the controller,which improves the ac-curacy and stability of manipulator movement.It simulated the working environment of picking robot manipulator,and tested the obstacle avoidance function of the manipulator.The test results show that the manipulator can success fully avoid obstacles,and the manipulator optimized by genetic algorithm and fuzzy algorithm has higher movement stability,which plays an important role in improving the efficiency and quality of fruit picking.关键词
采摘机械手/避障系统/遗传算法/模糊算法/PID控制器Key words
picking manipulator/obstacle avoidance system/genetic algorithm/fuzzy algorithm/PID controller分类
农业科技引用本文复制引用
王娜,孟庆辉,魏宏飞..采摘机器人机械手避障方法研究[J].农机化研究,2024,46(4):203-206,4.基金项目
河南省科技攻关计划项目(212102210372) （212102210372）
