Research On Hedge Pruning Mobile Robot's Control System

Hedge is an important way in greening environment,pruning hedges still stay manual operation at home and abroad,only alone artisanal workers,the workload and labor intensity is very huge.So,we begin to study the core of hedge pruning robot—the robot control system.Based on the characteristics of operation and mechanism,used D-H notation to set up robot coordinate system and physical model;get the normal solution and inverse solution by kinematics analysis of homogeneous transformation;and then,analysed the robot work space through parametric equation.Based on the physical model and the result of inematics analysis,get dynamical equation through lagrangian-Eulerian Method.Designed the control law and the adaptive law of fuzzy RBF neural network. According to robot dynamics equations, established fuzzy RBF neural network simulation models.And get the position tracking curves,velocity tracking curves,position tracking error curves,velocity tracking error curves,control input curves and fuzzy gain adjustment curves of six robot joint.Established PID simulation models,get that kind of curves like fuzzy RBF.Compared the simulink result of RBF fuzzy control and PID control:Fuzzy RBF neural network control performance better than the independent PID control.According to parameters and operational requirements of robot,used the MFC class of Visual C++ to design the robot control system software,including motion control,job control and arm control, run successfully, human-machine Interface friendly.