Research on the application of impedance control in flexible grasp of picking robot
Aiming at the damage of fruit picking robot during the picking process, an impedance control method of picking robot with parameter self-tuning is proposed. The rheological properties of fruit during picking by manipulator were studied by Burger’s viscoelasticity theory, and the variation characteri...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-04-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878132231161016 |
| _version_ | 1827964122258472960 |
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| author | Min Zhuang Ge Li Kexin Ding Guansheng Xu |
| author_facet | Min Zhuang Ge Li Kexin Ding Guansheng Xu |
| author_sort | Min Zhuang |
| collection | DOAJ |
| description | Aiming at the damage of fruit picking robot during the picking process, an impedance control method of picking robot with parameter self-tuning is proposed. The rheological properties of fruit during picking by manipulator were studied by Burger’s viscoelasticity theory, and the variation characteristics of fruit deformation during picking, as well as the changing law between fruit contact force and deformation were obtained. On this basis, the impedance control system model of the picking manipulator is established, and the impedance controller is designed. Finally, by constructing the self-correcting change function of impedance parameters, the influence of different impedance parameters on the change of the contact force is studied, and then the control system is improved and designed. The simulation and experimental results show that the established impedance control system model can effectively realize the non-destructive grasping of fruit, and has high grasping accuracy. The expected grasping force is smoother, the overshoot of the contact force is greatly reduced, and the adjustment time is also shortened, which indicates that the control method proposed in this paper has certain application value in the control of picking robots. |
| first_indexed | 2024-04-09T17:10:33Z |
| format | Article |
| id | doaj.art-a894137c6ad64857ac76bb87606d6cd1 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-04-09T17:10:33Z |
| publishDate | 2023-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-a894137c6ad64857ac76bb87606d6cd12023-04-20T06:03:31ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402023-04-011510.1177/16878132231161016Research on the application of impedance control in flexible grasp of picking robotMin Zhuang0Ge Li1Kexin Ding2Guansheng Xu3School of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, ChinaSchool of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, ChinaSchool of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, ChinaSchool of Intelligent Manufacturing, Hangzhou Polytechnic, Hangzhou, ChinaAiming at the damage of fruit picking robot during the picking process, an impedance control method of picking robot with parameter self-tuning is proposed. The rheological properties of fruit during picking by manipulator were studied by Burger’s viscoelasticity theory, and the variation characteristics of fruit deformation during picking, as well as the changing law between fruit contact force and deformation were obtained. On this basis, the impedance control system model of the picking manipulator is established, and the impedance controller is designed. Finally, by constructing the self-correcting change function of impedance parameters, the influence of different impedance parameters on the change of the contact force is studied, and then the control system is improved and designed. The simulation and experimental results show that the established impedance control system model can effectively realize the non-destructive grasping of fruit, and has high grasping accuracy. The expected grasping force is smoother, the overshoot of the contact force is greatly reduced, and the adjustment time is also shortened, which indicates that the control method proposed in this paper has certain application value in the control of picking robots.https://doi.org/10.1177/16878132231161016 |
| spellingShingle | Min Zhuang Ge Li Kexin Ding Guansheng Xu Research on the application of impedance control in flexible grasp of picking robot Advances in Mechanical Engineering |
| title | Research on the application of impedance control in flexible grasp of picking robot |
| title_full | Research on the application of impedance control in flexible grasp of picking robot |
| title_fullStr | Research on the application of impedance control in flexible grasp of picking robot |
| title_full_unstemmed | Research on the application of impedance control in flexible grasp of picking robot |
| title_short | Research on the application of impedance control in flexible grasp of picking robot |
| title_sort | research on the application of impedance control in flexible grasp of picking robot |
| url | https://doi.org/10.1177/16878132231161016 |
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