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組培苗移植機(jī)器人移苗作業(yè)軌跡規(guī)劃
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    摘要:

    為實(shí)現(xiàn)5自由度關(guān)節(jié)式組培苗移植機(jī)器人快速?gòu)呐囵B(yǎng)瓶中取出組培苗而不與苗瓶產(chǎn)生碰撞,，針對(duì)運(yùn)苗和取苗作業(yè)過(guò)程對(duì)手爪運(yùn)動(dòng)路徑和速度的要求,，提出了分別在關(guān)節(jié)空間中采用5次多項(xiàng)式插值和直角坐標(biāo)空間中采用沿空間直線運(yùn)動(dòng)的方式規(guī)劃?rùn)C(jī)器人的運(yùn)動(dòng)軌跡,，建立了運(yùn)動(dòng)軌跡的數(shù)學(xué)模型,，并結(jié)合實(shí)際工作過(guò)程,，對(duì)機(jī)器人的運(yùn)動(dòng)軌跡進(jìn)行了計(jì)算機(jī)仿真,。仿真結(jié)果表明,，規(guī)劃的軌跡平滑連續(xù),，無(wú)抖動(dòng)和停頓，能夠保證機(jī)器人正常工作,。實(shí)際運(yùn)行情況表明,，組培苗移植機(jī)器人基本上能按照規(guī)劃的軌跡運(yùn)行，平均位置偏差小于0.5mm,，滿(mǎn)足移苗作業(yè)的精度要求。

    Abstract:

    Aimed at different working courses of conveying and grasping plantlet, the method of using quintic polynomial in joint space and beeline in Cartesian coordinate space was adopted to plan the motion trajectory of the 5-DOF tissue culture plantlet transplanting robot. The robot could take out plantlet fleetly from culture bottle and not hit with the bottle at the same time. The mathematics model of the motion trajectory was established and the computer simulation on the motion trajectory of the robot was carried out. The simulated trajectory curves of the robot were smooth and successive, which could assure the robot working normally. The practical tests show that the robot can run according to the trajectory planning basically and the average warp is less than 0.5mm. It can realize the precision of transporting seedling.  

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楊麗,張鐵中,張凱良.組培苗移植機(jī)器人移苗作業(yè)軌跡規(guī)劃[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(9):112-117.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(9):112-117.

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