Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking
In order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheolog...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/4812657 |
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| _version_ | 1832566286443347968 |
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| author | Ji Wei Ding Yi Xu Bo Chen Guangyu Zhao Dean |
| author_facet | Ji Wei Ding Yi Xu Bo Chen Guangyu Zhao Dean |
| author_sort | Ji Wei |
| collection | DOAJ |
| description | In order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheological properties of apples and study the variation of mechanical properties of apple grasping at different speeds. Then, a force-based impedance control system is designed. On this basis, aiming at the influence of impedance controller parameters on contact force, three impedance parameters self-tuning functions are constructed to complete the design of an improved force-based impedance control system based on the hyperbolic secant function. The simulation and experimental results show that the proposed control makes the desired force smoother, and its overshoot is about 2.3%. The response speed is faster, and the adjustment time of contact force is shorter of about 0.48 s. The contact force overshoot is about 2%, which is 37.5% less than that of the traditional force-based impedance control. This research improves the control performance for apple harvesting robot compliant picking. |
| format | Article |
| id | doaj-art-841fa244e1354c2ca5fdbc2567ddde9a |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-841fa244e1354c2ca5fdbc2567ddde9a2025-02-03T01:04:39ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/48126574812657Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant PickingJi Wei0Ding Yi1Xu Bo2Chen Guangyu3Zhao Dean4School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, ChinaIn order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheological properties of apples and study the variation of mechanical properties of apple grasping at different speeds. Then, a force-based impedance control system is designed. On this basis, aiming at the influence of impedance controller parameters on contact force, three impedance parameters self-tuning functions are constructed to complete the design of an improved force-based impedance control system based on the hyperbolic secant function. The simulation and experimental results show that the proposed control makes the desired force smoother, and its overshoot is about 2.3%. The response speed is faster, and the adjustment time of contact force is shorter of about 0.48 s. The contact force overshoot is about 2%, which is 37.5% less than that of the traditional force-based impedance control. This research improves the control performance for apple harvesting robot compliant picking.http://dx.doi.org/10.1155/2020/4812657 |
| spellingShingle | Ji Wei Ding Yi Xu Bo Chen Guangyu Zhao Dean Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking Complexity |
| title | Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking |
| title_full | Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking |
| title_fullStr | Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking |
| title_full_unstemmed | Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking |
| title_short | Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking |
| title_sort | adaptive variable parameter impedance control for apple harvesting robot compliant picking |
| url | http://dx.doi.org/10.1155/2020/4812657 |
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