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Updated: Jun 8, 2025

Robotic Sensing and Stimuli Provision for Guided Plant Growth
Published on: July 1, 2019
动态建模和预测的位置/力量控制植物灵感成长机器人的机器人.
Abdonoor Kalibala1, Ayman A Nada1, Hiroyuki Ishii2
1Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, E-JUST, Alexandria, Egypt.
本研究介绍了一种动态模型和对葡萄藤机器人的控制策略,这是一个受植物启发的生长机器人. 研究表明,在复杂的环境中,精确的导航和力量控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 生物启发工程是生物启发的工程.
背景情况:
- 复杂的环境给传统机器人带来了挑战.
- 生物灵感的机器人为导航和操纵提供了新的解决方案.
- 像葡萄藤机器人一样,生长机器人存在独特的动态建模和控制问题.
研究的目的:
- 开发和控制一个动态模型,以植物为灵感的生长机器人 (葡萄藤机器人).
- 为了使葡萄机器人能够利用其独特的生长机制在复杂的环境中进行导航.
- 调节机器人的任务空间位置,方向和相互作用力.
主要方法:
- 利用欧勒-拉格兰方法进行动态建模.
- 为葡萄藤机器人推导了运动方程.
- 在监管任务中使用模型预测控制 (MPC).
主要成果:
- 在静态和时间变化的轨迹的位置控制中实现了亚毫米精度.
- 在力量控制中证明了微微纽顿以下的精度.
- 通过模拟验证了拟议的动态模型和控制策略.
结论:
- 开发的动态模型和MPC策略对于控制葡萄藤机器人是有效的.
- 葡萄树机器人在位置和力控制方面表现出高精度,适合复杂的环境.
- 这项研究有助于不断发展的机器人和自主系统的进步.
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