单 位：
武汉理工大学;济源职业技术学院;宜宾职业技术学院现代制造工程系
关键词：
迭代学习;轨迹规划;六自由度;神经网络;PID调节;机械手;苹果
摘 要：
为了提高苹果的采摘效率、降低采摘过程的漏采率和破碎率,设计了一种新的六自由度的采摘机械手。该机械手可以完成夹紧、旋转、俯仰、摇摆及回转动作,通过神经网络迭代学习算法,可以有效地控制机械手的运动轨迹,提高采摘过程的自动化程度。为了验证六自由度机械手对苹果采摘的有效性和可靠性,对机械手进行了苹果采摘测试,并使用脉冲神经网络PID调节的方式调节轨迹控制误差。通过测试发现:该机械手的误差较小,可以有效地完成采摘作业,且漏采率和破碎率都很低,是一种高效的苹果采摘机械手,可以在其他果蔬采摘作业中进行设计和推广。
译 名：
Design of Apple-picking Six DOF Manipulator Based on Iterative Learning and Intelligent Trajectory Planning
作 者：
Chen Chuanxiong;Zhang Xueming;Wang Xiaozhi;Department of Modern Manufacturing Engineering,Yibin Vocational and Technical College;Jiyuan Vocational and Technical College;Wuhan University of Technology;
关键词：
iterative learning;;trajectory planning;;six degree of freedom;;neural network;;PID regulation;;manipulator;;apple
摘 要：
In order to improve the apple picking efficiency,reduce the process of picking the leakage recovery rate and broken rate,it designed a new six degrees of freedom of the picking manipulator. The manipulator can complete clamping,rotating and pitching,rolling and rotary motion. Through neural network iterative learning algorithm,it can effectively control the manipulator trajectory,improve the picking process automation. In order to verify the six degree of freedom manipulator of apple picking the validity and reliability,the manipulator apple were picking test,and the use of pulse neural network PID regulating mode to adjust the trajectory error control. Through the test found that high precision error of the manipulator can be effectively complete picking,and loss rate and broken rate is very low,which is an efficient apple picking manipulator,design and promotion in other fruit and vegetable harvesting.
