The Selection Design And Analysis Of Control System Platform For Oil-tea Camellia Fruit Picking Robot

With the development of science and technology,robot is widely applied in many ways as an important part of automation production.Oiltea camellia fruit picking robot is a collection of environment perception,dynamic decision-making and planning,motion control and perform a variety of functions and the integration of the integrated system.Study camellia fruit picking robot,the key technologies can not only to adapt to market demand,not only reduce the labor intensity,improve the economic benefit has a certain practical value,and to track the world agricultural new technology,accelerate the process of agricultural modernization in our country has important practical significance.This paper is focused on the design problem of open structure robot controller.First of all,from the aspects of robot kinematics,the establishment of a robot is the inverse kinematics model;Secondly analyzes the concept,function and characteristics of open robot controller,determine the robot control system hardware scheme;calculated according to the actual situation of load,the axis of inertia or load situation,choose the appropriate drive motor,coupled with the output of revolution,output current and voltage motor parameters,such as choosing appropriate servo motor drive and servo drives,finally build the camellia fruit picking robot control system hardware platform,and the fruit picking robot manipulator of the measurement error analysis and control system performance test.This paper provides a brief overview of the modular control software system based on robot kinematics and inverse kinematics model and trajectory planning method,and safety check,parameter set,kinematics analysis and teach and playback functions are realized,and a robot picking object experiment is completed sucessfully.This kind of robot control system runs smoothly and has excellent open and expandable ability in real practice.