农机化研究2025，Vol.47Issue(6)：208-213,6.DOI:10.13427/j.issn.1003-188X.2025.06.032
农用机器人底盘控制系统的设计
Design of Chassis Control System for Agricultural Robots
摘要
Abstract
Agricultural robots can perform production activities such as agricultural planting,harvesting,fertilization,pes-ticide spraying,weeding and soil analysis,which can significantly improve the efficiency of agricultural production.The chassis of agricultural robots can ensure the ability to move freely through uneven terrain and complex obstacles,and their bottom stability,flexibility and reliability directly affect the robot's navigation ability and task execution efficiency.In or-der to further improve the intelligent and efficient work of the agricultural robot,designed a complete and efficient motion control algorithm based on CANopen communication protocol and servo motor drive communication to ensure that the chas-sis of the agricultural robot can move flexibly and efficiently in the field,realized multiple motion modes and ensured that the chassis can move flexibly in the complex construction environment.Field tests showed that the chassis can flexibly adapt to the terrain and avoid obstacles in different farming environments,realized multiple movement modes and comple-ted agricultural tasks efficiently.关键词
农用机器人/底盘控制系统/CANopen通讯协议/伺服电机驱动通信/运动控制算法Key words
agricultural robot/chassis control system/CANopen communication protocol/servo motor drive communica-tion/motion control algorithm分类
农业科技引用本文复制引用
张艳兵,徐鹏跃,李卓,张洪强..农用机器人底盘控制系统的设计[J].农机化研究,2025,47(6):208-213,6.基金项目
河北省"三三三人才工程"资助项目(B20180903) （B20180903）
河北省自然科学基金项目(E2018209046) （E2018209046）
