Design And Implementation Of A Fuzzy RBF Neural Network Based Prickly Ash Picking Robot Control System

With the vigorous development of agricultural technology in China,a major contradiction has been formed between the increased demand for agricultural production and the shortage of labor.The application of robot technology in modern agricultural production to improve the efficiency and quality of traditional handicraft agriculture has become the main direction of agricultural automation development.Due to the special environment where Chinese prickly ash grows and the characteristics of the prickly ash tree itself,it is very difficult to pick prickly ash.In order to replace the traditional manual picking,research on a prickly ash picking robot that can improve picking efficiency,reduce labor costs and reduce the rate of fruit damage has become an important part of the prickly ash industry.The urgent task of development is of great significance.In this paper,on the basis of the overall prickly ash picking and mechanical body design of the subject group,the design research of the prickly ash picking robot control system is carried out,and the following aspects of research work are mainly carried out.(1)Based on the structural parameters of the designed prickly ash picking robot,the standard D-H parameter method is used to establish the robot coordinate system,and the software identification method is used to find the inertia parameters of each linkage of the robot,and the Lagrangian method is used to establish the dynamics equations of the pepper picking robot.(2)To solve the problem of jitter at the end of the robot arm,a rigid-flexible coupling dynamics model of the robot arm of the prickly ash picking robot was established,and the correctness of the rigid-flexible coupling multi-body dynamics model of the pepper picking robot was verified by simulation using Adams software,and the causes of jitter at the end were analyzed.(3)To study the suppression problem of jitter occurring at the end of the prickly ash picking robot during picking operation,to design the control law based on online gravity compensated PD control based on the dynamics model,to find the appropriate values of Kp and Kd parameters based on the traditional independent PD control,to add the gravity term compensation function so that the end of the robot arm can maintain the original ideal trajectory after the motion,so that the jitter problem can be controlled.The performance is simulated through the joint simulation of Adams and Matlab to verify the effectiveness of online gravity compensation PD control on end jitter suppression.(4)Design an adaptive control algorithm based on fuzzy RBF neural network,and use the adaptive and self-learning capability of fuzzy RBF neural network to approximate the nonlinear function of prickly ash picking robot adding friction and gravity terms,and use Lyapunov stability theory to verify the stability of the proposed control algorithm,and use Matlab software platform to simulate the joint The results show that the control algorithm designed in this paper has higher trajectory approximation accuracy and better trajectory tracking control effect.(5)Adopt distributed control structure,select STM32 embedded processor,design the control system of prickly ash picking robot through the joint control of upper computer and lower computer;based on Labview,design the human-computer interaction interface of control system,realize the automatic control and humancomputer interaction ability of pepper picking robot.(6)Research and analysis of the hardware and software design of the control system,the selection of hardware such as robot controller,the design of software systems including human-computer interaction interface,control algorithms and underlying drivers,and the hardware construction and software design of the prickly ash picking robot control system.(7)Build an experimental platform to conduct experimental research on the implementation of the pepper picking robot control system.The experimental test shows that the control system designed in this paper meets the requirements of the pepper picking robot control,and the control performance is good.The basis of the control system is laid for the implementation of the pepper picking robot system.