为了减少损伤的机器人脆弱的果实抓取:用于气动驱动软抓手的闭环力控制方法
Qingyu Wang1,2,3,4, Youchao Zhang1,2,3, Wei Liu1,2,3
1College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, China.
Soft robotics
|December 9, 2024
概括
机器人抓住脆弱的水果是具有挑战性的,因为强制控制问题. 这项研究开发了一种使用卡尔曼波器和双闭环控制的强大的气动抓系统,实现精确的力调节以实现无损的处理.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 农业工程 农业工程
- 控制系统 控制系统
背景情况:
- 在收获后的过程中处理脆弱的水果是劳动密集型的,易受损坏.
- 全球人口老龄化需要自动化,突出显示了对机器人解决方案的需求.
- 通过气动软抓柄控制抓取力是复杂的,因为系统的非线性和时间延迟.
研究的目的:
- 开发一款强大的机器人抓取力控制系统,用于处理脆弱水果的气动抓取器.
- 为了应对无损抓取的挑战,并确保稳定的操纵.
- 提高收获后行业的自动化效率.
主要方法:
- 开发一个机器人抓取系统,集成气动软抓取器和矩阵力传感器.
- 实施双闭环控制策略,使用卡尔曼过器 (KF) 进行无声化,并使用带死带的比例集成差异化 (PID) 控制器.
- 探索不同接触点的力分布,并利用空气压力来调节力.
主要成果:
- 实现了强大的闭环抓取力控制,最大稳定状态误差为0.07N.
- 验证了卡尔曼波器在传感器数据无效化和矩阵力可视化中对掌握机制分析的有效性.
- 通过废除研究证明了多个传感单元和死带在控制器性能中的有效性.
- 确认了开发系统的概括性能和反干扰能力.
结论:
- 开发的双闭环控制系统有效地解决了气动抓器闭环抓力控制的问题.
- 拟议的方法为收获后行业的脆弱水果处理自动化提供了一个潜在的解决方案,减少损害和劳动力成本.
相关概念视频
01:05Static and Kinetic Frictional Force
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However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
01:20Plastic Deformation in Circular Shafts
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01:17Open and closed-loop control systems
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
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01:22Mechanical Systems
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically described...
01:26PD Controller: Design
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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