Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment

A. Reddy, V. V. M. J. S. Chembuly, V. Rao
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Abstract

In the development of automated manipulators for fruit and vegetable picking technologies, the challenge of ensuring an efficient, stable, and loss-free picking process has been a complex problem. In such an environment, manipulators require the most efficient and robust control for effective operations. In this paper, a serial 9-DOF redundant manipulator (1P8R) is proposed with various controllers for trajectory tracking problems in agricultural applications. The dynamic analysis of redundant manipulator has been carried out using the Recursive Newton-Euler method. The joint configurations of the robot are determined using optimization techniques for specific Task Space Locations (TSLs) by avoiding obstacles. The process of generating joint trajectories has been implemented by considering the cubic polynomial function. For the task of controlling the robot trajectory tracking in the virtual agricultural environment, different combinations of Proportional (P), Integrative (I), Derivative (D), and Feed-Forward (FF) controllers are employed, and a comparative analysis has been performed among these controllers. To verify the performance of the manipulator, simulations are carried out in a virtual environment using Simulink software. Results show that the robot is able to reach specific TSL accurately with better control and it is found that the implementation of Feed-Forward and PID-CTC controllers has better performance in a complex environment.
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虚拟环境下农业应用冗余度机械手的动力学分析与控制
在果蔬采摘自动化机械手的发展过程中,如何保证采摘过程的高效、稳定和无损耗一直是一个复杂的问题。在这样的环境下,机械臂需要最高效和鲁棒的控制来实现有效的操作。针对农业应用中的轨迹跟踪问题,提出了一种具有多种控制器的串联9自由度冗余机械手(1P8R)。采用递推牛顿-欧拉法对冗余度机械手进行了动力学分析。针对特定的任务空间位置(TSLs),采用避障优化技术确定机器人的关节构型。通过考虑三次多项式函数实现了联合轨迹的生成过程。针对虚拟农业环境中机器人轨迹跟踪的控制任务,采用了比例控制器(P)、积分控制器(I)、导数控制器(D)和前馈控制器(FF)的不同组合,并对这些控制器进行了对比分析。为了验证机械手的性能,利用Simulink软件在虚拟环境中进行了仿真。结果表明,在较好的控制下,机器人能够准确地达到特定的TSL,并且发现前馈和PID-CTC控制器的实现在复杂环境下具有更好的性能。
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来源期刊
CiteScore
3.80
自引率
6.20%
发文量
57
审稿时长
20 weeks
期刊介绍: IJMEMS is a peer reviewed international journal aiming on both the theoretical and practical aspects of mathematical, engineering and management sciences. The original, not-previously published, research manuscripts on topics such as the following (but not limited to) will be considered for publication: *Mathematical Sciences- applied mathematics and allied fields, operations research, mathematical statistics. *Engineering Sciences- computer science engineering, mechanical engineering, information technology engineering, civil engineering, aeronautical engineering, industrial engineering, systems engineering, reliability engineering, production engineering. *Management Sciences- engineering management, risk management, business models, supply chain management.
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