It presents an application to fruit picking robot execution for bionic manipulator , and designs bionic robot fin-ger joints micro motor coordinated control , virtual shaft system , which improves the picking robot finger joint flexibility , reduces the fruit picking robot picking the damage to the fruit in the process .According to traditional motor artificial po-tential field controller , it is difficult to meet the load disturbance caused by multi motor real-time synchronous operation . The adjacent attraction is the artificial potential field of multi motor synchronous control method .Through the interaction of adjacent motor , each motor cooperative work and reduce the load disturbance for bionic robot finger in coordination of interference .The results show that the artificial potential field model can effectively improve the follow the finger angle er-ror with high efficiency response , and it can be error can be reduced to a minimum in a shorter period .The picking process is with the help of finger coordination of research on virtual simulation .The simulation results show that the im-proved artificial potential field to control the numerical difference of the angular velocity of the model of three fingers is smaller , the three fingers are in good synergy , which can meet the requirements of the control collaborative design .
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