摘要
精确控制机械手运动可以实现自动化采摘、提高采摘效率,适应智能农业的需求。文章采用逆运动解析法计算出机械臂在末端位姿的全部逆解,并进行了虚拟仿真设计。使用Webots仿真软件对机械手运动的场景进行功能预设,仿真机械手的运动移动和搬运工作,得到机械手的工作范围,达到验证运动控制方案的正确性和可行性。
Precise control of manipulator movement can realize automatic picking,improve picking efficiency,and adapt to the needs of intelligent agriculture.In this paper,the inverse kinematics analysis method was used to calculate all the inverse solutions of the end pose of the manipulator,and the virtual simulation design was carried out.Webots simulation software was used to presup‐pose the robot motion scene,simulate the movement and handling of the manipulator,get the working range of the manipulator,and verify the correctness and feasibility of the motion control scheme.
作者
安燕霞
张钰坤
林娣
An Yanxia;Zhang Yukun;Lin Di(Jinzhong College of Information,Taigu 030800,Shanxi,China)
出处
《农业技术与装备》
2024年第4期5-7,共3页
Agricultural Technology & Equipment
基金
山西省教改项目(J2021954)
山西省教育科学“十四五”规划2023年度一般规划课题(GH-230108)
晋中信息学院校级教改课题(2020433004)。
关键词
采摘机械手
虚拟仿真
逆运动解析法
Webots
picking manipulator
virtual simulation
inverse motion analysis method
Webots
