![](/images/graphics-bg.png)
Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking
Joint Authors
Wei, Ji
Yi, Ding
Bo, Xu
Guangyu, Chen
Dean, Zhao
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-04-04
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Wei, Ji& Yi, Ding& Bo, Xu& Guangyu, Chen& Dean, Zhao. 2020. Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking. Complexity،Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1142098
Modern Language Association (MLA)
Wei, Ji…[et al.]. Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking. Complexity No. 2020 (2020), pp.1-15.
https://search.emarefa.net/detail/BIM-1142098
American Medical Association (AMA)
Wei, Ji& Yi, Ding& Bo, Xu& Guangyu, Chen& Dean, Zhao. Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking. Complexity. 2020. Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1142098
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1142098