Research On Control System Of Execution Device Of Mobile Intelligent Robot For Hedge-pruning

Hedge-pruning is labor and time-consumed and dangerous job on express way and highway, so it is trend to substitute robot for labor. Study on realization of multi-purposed intelligent mobile robot, funded by Nanjing Forestry University, was put forward for hedge-pruning and grass-cutting .The mobile robot which is composed by a mobile vehicle and 4 DOFs manipulator will move without man's control and prune hedge and grass automatically.The dissertation was a part of multi-purposed intelligent mobile robot, which included architecture of mobile manipulator, geometric center line and controlling method for manipulator.Based on controlling mobile vehicle and manipulator separately ,a new architecture was proposed ,in which mobile vehicle and manipulator work in parallel ,if necessary, they can coordinate in task level. Mobile base adopted deliberate and behavior hybrid architecture, while continuous and discrete event architecture was used by manipulator. Hard real time and soft real time was utilized by Communication between them.Chromatic space operator segmented object from environment on the basis of color and cultivated character. Effective and efficient Segmentation was illustrated by experiment with change of brightness in the period of the noon and sunfall. World coordinates of geometric center line of pruned plane was acquired by combination of Ultrasonic sensor and CCD camera.Hedge-cutting was implemented by 4 DOFs manipulator. Direct and inverse kinematics equation was given according to D-H method. Dynamics equation derived by Lagrange-Euler method provided the reference for motion controlling of manipulator and selection of servor motor.