Survey On Simulation And Control System Of Under-actuated Agriculture Wheeled Mobile Robot

Agricultural robot is an important direction of development of agricultural engineering sciences, it is multi-disciplinary and comprehensive integration, and a high-tech progress. Development of facility agriculture has greatly promoted the development of intelligent agricultural machinery, agricultural intelligent robot gradually become the main direction of agricultural machinery, agricultural substitute workers to improve labor productivity and quality of agricultural products, which has become the development trend of international agricultural engineering.The issue was helped by National Natural Science Foundation Project: research on underactuated wheeled mobile robot dynamics and real-time control.The main contents of this paper include:After reading a large number of relevant literature, determined the technical roadmap, designed underactuated wheeled mobile robot agricultural machinery hardware systems, wheeled robot body by the mobile platform and the fronted 6 DOF manipulator. Wheeled mobile platform consists of the frame, rear-wheel drive mechanism, front wheel steering mechanism; an end effector is flexibly combined according to the actual requirements of the job; 6 DOF manipulator is composed of a waist, shoulder, elbow joints and wrist, servo motor reducer series to get enough torque to achieve a desired speed, direction of movement along the planned trajectory.Established underactuated wheeled agricultural robot manipulator model Based on Piper law, described the pose of the robot by DH parameters, Resolveed proposed inverse Kinematics by Mathmatica software, simulated manipulator obstacle avoidance with Robotics toolbox of MATLAB.Designed robot control system which uses PID algorithms, the robot was control with the mode of PWM and direction.After completion of three-dimensional solid modeling of robot with Solidworks, simulated the torque, velocity, angular velocity of underactuated wheeled agricultural robot with ADAMS environment,completed the simulation of harvesting and simulated the trajectory tracking control with co-simulation by ADAMS and MATLAB using the PID algorithm.Based on the above study, we ma nufacted the first generation of underactuated wheeled agricultural robot AMR-1, verificated the rationality and reliability of the control program and mechanical mechanism.Besides,found insufficients and proposed improvement optimizations.