Control of Transplanting Seedlings Robot Based on 3-CRR Parallel Mechanism
A new 3-CRR parallel mechanism which was complete decoupling for the design of transplanting seedlings had been proposed, and its kinematics was analyzed. The anticipant trajectory had been transformed into generalized location coordinates of driving joint. The intelligent control of the computers within the scope of the work had been completed. In closed-loop control circuit, the improved feed-forward compensation fuzzy PID control principle was adopted. By detecting encoders feedback signals, continuous trajectory interpolation had been used to achieve the precise control of the robot joints. An intelligent self-searching transplanting robot was developed, the robot automatically calculated the coordinates of the roots of seedlings and automatically generated transplanting trajectory in the humanoid intelligent way. Modular design and object-oriented programming methods were mainly used in the control system of transplanting seedlings robot, and it was compiled by VC + +6.0.
Parallel Mechanism Transplanting Seedlings Robot Movement Control
XIE Jun FENG Shiji
School of Mechanical Engineering, Jiangsu University, Zhenjiang, Jiangsu, 212013, P.R. China Bosch (China) Investment Ltd, Shanghai, 201801, P.R. China
国际会议
合肥
英文
2585-2588
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）