| Shaping garden and highway hedge is a regular part of hedge maintenance industry.At present artificial pruning is a sort of high-intensity work with low efficiency and poor working conditions,which makes it very urgent to realize trimming automation.This paper put forward a sort of trimming manipulator with function of trimming automatically.Its control system and the end of trajectory planning were fully discussed.This paper embarked from the actual hedge trimming task,designed a basic solution for the manipulator.The robot kinematic problem had been analyzed and solutions to the forward kinematic equation were put forward by improved D-H method,as well as its inverse solutions.Robotics Toolbox and MATLAB language software were used to establish the pruning robot model,with simulation of the end of trajectory.Meanwhile it verified the solutions to the forward kinematic equation.The Monte Carlo method was used to solve the workspace of the robot and the workspace was presented visually by MATLAB simulation.The robot trajectory planning in Cartesian space was designed to realize hedge shaping,with analysis of space linear and circular interpolation algorithm and status linear interpolation algorithm simulated in MATLAB.The results of simulation showed that plane linear,circular and space linear interpolation algorithm were reliable,which laid the foundation for the control algorithm.Hardware control system based on ARM9 and STM32 was proposed.Linus was ported on ARM and the graphic user interface was developed by QT technology.Control algorithm for track interpolation was realized through programming on MDK software.At present,the hemispherical,cylindrical and conical hedge pruning were achieved.The physical prototype indicated that the designed automatic control system was stable and reliable. |
PDF Full Text Request