Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Ji, Wei; Ding, Yi; Xu, Bo; Chen, Guangyu; Zhao, Debin

doi:10.1155/2020/4812657

Cited by 29 publications

(13 citation statements)

References 28 publications

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“…Too large m d and too small b d will increase the overshoot of contact force, too small m d and too large b d will slow down the system’s response time, and too large k d will increase the steady-state error of the system. 33 Considering the above effects, the force control parameters are set depending on Table 2.…”

Section: Methodsmentioning

confidence: 99%

Automatic buckling system of micro terminals combined vision and force signals

Jiang

Zhang

et al. 2023

Measurement and Control

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Micro terminals are often used in every laptop, mobile, and other electrical product. It is challenging to automatically buckle the terminal head to its terminal base during manufacturing because of trouble in accurate positioning and gripping. A double-robots collaborative assembly system is developed to buckle millimeter-scale terminals in three-dimensional space. Robot 1 takes the terminal head horizontally by grasping its flexible line with a customized clamp, including two fingers. Robot 2 presses the aligned terminal head through a force control strategy to ensure that the terminal head and the terminal base can complete buckling accurately, even if there is a certain deviation in the vertical direction. There are two cameras to be used in the system. A horizontally placed camera is used to detect and calculate the angle between the terminal head and the horizontal plane. The angle data will drive robot 1 to make the terminal end face parallel to the horizontal plane to complete the pose correction of the terminal head. Another camera is vertically fixed at the end of industrial robot 1 and used to detect and calculate the position deviation between the terminal head and the terminal base. The position deviation will drive robot 1 to align the terminal head with the terminal base to complete the position correction. The YOLOv3, least square, and feature extraction algorithms are used in image processing. The accuracy of the YOLOv3 target detection model trained by self-made data set can reach more than 95% under different conditions. The detection period is within 65 ms. The experimental results show that the terminal assembly system designed in this paper has excellent reliability and assembly success rate. It also has a significant reference value for other terminals’ automatic buckling assemblies.

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Section: Methodsmentioning

confidence: 99%

Automatic buckling system of micro terminals combined vision and force signals

Jiang

Zhang

et al. 2023

Measurement and Control

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“…Multiplying ( 6) and ( 5), the air-gap flux density generated by PMs can be written as 0 ( , ) cos ( ) According to (7), the sources and spatial-temporal orders of the PMF can be obtained as shown in Table 3. It can be found from Table 3 that the sources of the PMF mainly consists of four terms, i.e., the interaction between the permanent MMF (PMMF) and average permeance, the interaction between the PMMF and the stator slot effect, the interaction between the PMMF and the salient effect, and the interaction among the PMMF, the stator slot effect, and the salient effect.…”

Section: B Analytical Model Of Pmfmentioning

confidence: 99%

“…The air-gap magnetic field is the energy conversion medium, and its spatial-temporal distribution characteristics directly affect the running performance of the machine [5]- [7]. To date, the research on the air-gap magnetic field of surface-mounted permanent magnet synchronous machines (SPMSMs) has been fully developed, due to their regular permanent magnet (PM) layout and simple magnetic circuit [8]- [13].…”

Section: Introductionmentioning

confidence: 99%

Influence of Salient Effect on Air-Gap Flux Density Distribution of Interior Permanent-Magnet Synchronous Machines

Xia

Zhang

et al. 2021

IEEE Access

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Interior permanent magnet synchronous machines (IPMSMs) are widely used in electric vehicles due to their high power density, high efficiency, and wide speed range. Compared with surfacemounted PMSMs, the salient effect of IPMSMs causes a significant difference between quadrature-axis and direct-axis flux paths, which can increase the harmonic components of the air-gap field and affect the operation of the machine. Herein, taking a 6-poles 36-slots PMSM as an example, this paper analyzes the influence of salient effect on the air-gap flux density. Based on salient effect function, the analytical model of air-gap flux density considering the salient effect is established, and the influence of the salient effect on the spatial-temporal distribution characteristics of air-gap flux density excited by permanent magnets and armature reaction are derived, which are verified by the finite element method (FEM). Both simulation and experiment results of the prototype show good agreement, and the sources of salient effect are found with finite element model and equivalent magnetic circuit. Further, different current excitations are applied to analyze the influence of the salient effect on different magnetic fields. The results show that the salient effect has a more significant influence on the direct-axis armature reaction magnetic field, which increases the harmonics components with the temporal orders of 3ka (ka=1,2,3…).INDEX TERMS IPMSMs, salient effect, quadrature-axis and direct-axis flux paths, spatial-temporal distribution, equivalent magnetic circuit, FEM.

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“…This approach was achieved using position-based control [19] and visual feedback control [31]. Other control algorithms, like fuzzy control [19], combined PD and linear quadratic technique [32], and impedance control method [33], for coordinating robotic manipulators and grasp modulation, have been employed. Despite all of these efforts for harvesting different crops [10], there has not been any effort towards design and development of robots/intelligent machines for harvesting chile pepper.…”

Section: Introductionmentioning

confidence: 99%

A Study on the Feasibility of Robotic Harvesting for Chile Pepper

Masood

Haghshenas-Jaryani

2021

Robotics

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This paper presents a study on the robotic harvesting of New Mexico type chile pepper, in a laboratory setting, using a five degrees of freedom (DoF) serial manipulator. The end-effector of the manipulator, a scissor-type cutting mechanism, was devised and experimentally tested in a lab setup which cuts the chile stem to detach the fruit. Through a MATLAB™-based program, the location of the chile pepper is estimated in the robot’s reference frame, using Intel RealSense Depth Camera. The accuracy of the 3D location estimation system matches the maximum accuracy claimed by the manufacturer of the hardware, with a maximum error to be in Y-axis, which is 5.7 mm. The forward and inverse kinematics are developed, and the reachable and dexterous workspaces of the robot are studied. An application-based path planning algorithm is developed to minimize the travel for a specified harvesting task. The robotic harvesting system was able to cut the chile pepper from the plant based on 3D location estimated by MATLAB™ program. On the basis of harvesting operation, on 77 chile peppers, the following harvesting indicators were achieved: localization success rate of 37.7%, detachment success rate of 65.5%, harvest success rate of 24.7%, damage rate of 6.9%, and cycle time of 7 s.

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Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Cited by 29 publications

References 28 publications

Automatic buckling system of micro terminals combined vision and force signals

Automatic buckling system of micro terminals combined vision and force signals

Influence of Salient Effect on Air-Gap Flux Density Distribution of Interior Permanent-Magnet Synchronous Machines

A Study on the Feasibility of Robotic Harvesting for Chile Pepper

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