关键词: 采摘机器人, 结构设计, 分布式控制系统, 模糊-PID, 性能测试

Abstract: At present, most agricultural robots, are based on articulated coordinate, the applications of articulated robots in the fruit-picking are not only with complex control, but also high costs and low efficiencies. To design an agricultural picking robot with simple structure is the focus of current research. In view of the horticultural characteristics of apple cultivation and the shortcomings of articulated manipulator, the hardware structure of robot system is developed based on cylindrical coordinate. An open and distributed architecture based on PC&MP2100 is used in the control system. The harvesting procedure of robot is expounded, the picking control program is compiled, the fuzzy-PID control method and a synchronization controller based on relative coupling strategy are also proposed. The control program and human-machine interface are programmed with C#. Some experiments are made including uniaxial debugging, multi-axis synchronized debugging and tests of CAN communication, motion-consuming and positioning accuracy which show that the average values of single moving time and motion error are 6.619 s and 4.929 mm. The design improves the positioning accuracy, reduces costs, time-consuming and increases picking efficiency compared with articulated manipulator.

Key words: harvesting robot, structure design, distributed control system, fuzzy-PID, test