Trajectory Planning And Control System Of Scallop Sorting Manipulator

In recent years,with the rapid development of China’s economy and the continuous improvement of people’s material living standards,the demand for marine treasures such as sea cucumbers,scallops,abalone,and so on is increasing.Various types of marine treasures need to be sorted before being marketed to remove impurities.The traditional sorting methods for marine treasures mainly include manual sorting and mechanical screening.Manual sorting has high labor intensity,high cost,and low efficiency.Mechanical screening has problems such as high vibration noise,residual impurities,and high damage rate,which seriously restricts the development of marine treasures industrialization.With the continuous maturity and development of robot technology,its application in the field of marine resources development continues to deepen.The application of robot technology to the development and utilization of marine resources has become a research hotspot.Therefore,taking scallop sorting as an example,this paper developed a four degree of freedom sorting robot arm,established a kinematics model of the robot arm,conducted trajectory planning and simulation research on each motion joint,calculated the motion space of the robot arm,and based on the fuzzy PID theory,studied the control system of the scallop sorting robot arm,which was verified through prototype experiments.Firstly,determine the overall structural scheme of the scallop sorting robot arm,which is mainly composed of a base,a large arm,a small arm,and an end actuator,with four degrees of freedom: base rotation,large arm pitch,small arm pitch,and end actuator rotation.Establish the kinematics model of the robot arm,conduct forward and inverse kinematics analysis,and verify the correctness of the kinematics model through Matlab simulation.According to the actual rotation angle of each joint,the motion space of the robot arm is calculated using Monte Carlo method,and joint motion trajectory planning based on multiple interpolation and circular interpolation algorithms is performed for the robot arm,respectively.The rationality is verified through simulation.Secondly,design the hardware and software of the robot arm control system.The main control chip,power module,and drive module are selected and designed,and the relevant circuit diagrams are drawn using AD software.The communication system,encoder,and controller system software are also designed,and the overall control system diagram is given.Thirdly,based on the problems such as the unsatisfactory control effect of traditional PID control technology and the difficulty of parameter adjustment,a fuzzy algorithm is introduced to combine traditional PID control with fuzzy control,and the traditional PID controller and fuzzy PID controller for robot arm motion control are designed respectively.Simulation research is conducted in Matlab software,Using the Simulink module,a fuzzy PID control model is built and simulated to obtain joint angle error and joint tracking trajectory curves.The results show that the verification results based on fuzzy PID controllers are better than traditional PID controllers in terms of joint angle errors or joint tracking curves.Finally,an experimental platform for the scallop sorting robot arm was built to complete the assembly of each motion joint of the robot arm and the debugging of the control system,and a human-computer interaction interface was established.After configuring the relevant parameters,the sorting robot arm was tested for joint,coordinate,and reciprocating accuracy experiments.The test results showed that the robot arm based on the fuzzy PID controller moved smoothly and had small errors,which proved that the trajectory planning scheme of the robot arm was feasible and could provide a reference for the automatic sorting of marine treasures.