The Control Software Design Of The Tung Oil Fruit Picking Robot Based On IMAC

'With the development of the industrial and the widespread application of computer technology,the manual labor has been replaced by the intelligent machines.As a kind of intelligent mechanical equipment,tung oil fruit picking robot can also replace the artificial picking,and can greatly improve the picking efficiency and reduce losses of mature fruit which is not timely picked.The thesis studied on the core part of the tung oil fruit picking robot-control software.Then,how to get the more fast and accurate control response,how make the control for picking robot more convenient,which study for control software is more and more important.Based on the D-H notation,there established the kinematics model of six axis of picking arm and listed the D-H parameter table,then,worked out the spatial equation;based on the inverse transformation which proposed by Paul,worked out the inverse kinematics equation.I designed the control algorithm of PID + feedforward for the semi-closed loop.Using Matlab to build the Simulink model,the paper made the simulation analysis of the algorithm.The paper introduced two kinds of PID parameter tuning method,it take the manual PID parameter tuning and analyzed the feedback of the experimental data.The VC ++6.0 software was used to develop main control program.The IPC communication with motion control card by function library of PComm32.According to the control requirements for picking and debugging,draw the chart of control software,then developed the man-machine interface by MFC module.After the hardware and software have been build,the performance of the control system tested by the experiment.The main experiments include:communication between PC and motion control card,the function of manual debugging interface,effect of automatic picking,the end of background process.Experiments show that,the man-machine interface is multi-function and easy to operate,stable communication among hardware and software platform,servo motor worked smoothly,the feedback signal accurately,tung oil picking robot can accurately execute the control command.According to the effect of manual debugging and automatic picking,the control software met the design requirements,which verified its feasibility.