【作者】 张玉磊；

【导师】 陈进；

【作者基本信息】 江苏大学 ， 测试计量技术与仪器， 2008， 硕士

【摘要】 当代农业作业逐渐向规模化、机械化发展,人力成本不断增长,农业机器人的应用发展也越来越快。研究开发适合目前农业生产要求的果蔬采摘机器人,可以提高生产效率、减小劳动强度、降低人工收获的劳动力成本。本文以MOTOMAN-UPJ作为采摘机械手试验本体,采用MTi(Motion Tracking instrument)传感器系统对机械手末端的各种运动进行测量并对结果进行分析,设计以欧拉角为测量对象的运动测量系统,为采摘机械手的实时运动跟踪测量提出一种新的思路。本文对MOTOMAN-UPJ机械手进行结构分析,采用D-H方法建立数学模型,在MATLAB Robotics Toolbox平台上对MOTOMAN-UPJ机械手的正逆运动学进行仿真,并对采摘机械手末端PTP运动进行仿真研究。结合机械手运动学仿真分析,分析MTi系统的测量输出特性,对采摘机械手末端的绕轴运动、直线运动、避障运动及姿态调整进行测量分析,观察欧拉角、角速度、线性加速度的变化规律,并完成基于MTi系统的三维运动测量方法的研究。采用NI公司的LabVIEW软件完成采摘机械手的三维运动测量系统的设计,实现与MTi系统的USB通信,利用ActiveX技术调用MTi系统提供的动态链接库中的数据读取、通信设置、数据输出等函数,完成方位数据和校准数据的实时测量输出及显示。结合MTi传感器系统设计采摘机械手的运动测量试验,包括采摘作业典型运动过程的测量以及采摘机械手到达目标后对末端执行器的姿态调整过程的测量,对输出的数据进行处理并与理论值比较。试验结果表明MTi传感器及该运动测量系统可满足采摘机械手作业要求。该系统测量精度较高、人机界面良好,为以后基于MTi的采摘机械手轨迹规划和运动控制打下了基础。更多还原

【Abstract】 The present agriculture development will be more systematic and mechanizable, and the cost of manpower increased. With the background of this actuality, the development of agriculture robot develops quickly. The research of harvesting robot that fits the request of agriculture work could improve the production efficiency, reduce the intensity of labor and the cost of manpower. The paper designs the system of the motion measurement with Euler angles observed. MOTOMAN-UPJ is used as the harvesting robot’s manipulator. The design of 3D motion measurement method has been completed with Euler angles. Motions of manipulator’s end-effector was measured and analyzed with MTi system. A new idea of motion tracking of harvesting robot in real-time has been put forward.According to the structure characteristics of harvesting robot with MOTOMAN-UPJ, this paper puts forward the mathematical model by using D-H method. The inverse kinematics is simulated and validated in MATLAB Robotics Toolbox. And the end-effector’s motion by point-to-point is also researched by simulating. With kinematics analyzed and outputs from MTi, the method of motion measurement is developed. Then, the harvesting manipulator system for the measurement of 3D motion is designed by using LabVIEW software. It achieves communications with MTi system by USB. MTi provides some functions which can be called by ActiveX technic. These functions accomplish exporting and displaying orientation data and calibrated data.The experiment of harvesting robot’s motion has been developed with MTi system, included classic harvest process measurement and pose adjust measurement after arrival object. Harvesting robot is measuring while the system running, outputs are analyzed. After the experiment, the track of manipulator’s end-effector is plotted. The experiment proved that the system have higher accuracy and friendly human-computer interface. It provides experimentation basis for path and motion control of harvesting robot.更多还原