Visual servo control of parallel manipulator of agricultural robot

XUE Liang; ZHOU Jun

doi:10.13873/j.1000-9787(2017)05-0123-04

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Visual servo control of parallel manipulator of agricultural robot

更新时间：2025-09-11

- Visual servo control of parallel manipulator of agricultural robot
- Vol. 36, Issue 5, Pages: 123-126(2017)
- 作者机构：
  
  南京农业大学工学院江苏省农业智能化装备重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-9787(2017)05-0123-04
  CLC： TP242;TP391.41
- Published：2017
- 稿件说明：
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[1]薛梁,周俊.农业机器人并联采摘臂视觉伺服控制[J].传感器与微系统,2017,36(05):123-126.

XUE Liang, ZHOU Jun. Visual servo control of parallel manipulator of agricultural robot[J]. 2017, 36(5): 123-126.
[1]薛梁,周俊.农业机器人并联采摘臂视觉伺服控制[J].传感器与微系统,2017,36(05):123-126. DOI： 10.13873/j.1000-9787(2017)05-0123-04.

XUE Liang, ZHOU Jun. Visual servo control of parallel manipulator of agricultural robot[J]. 2017, 36(5): 123-126. DOI： 10.13873/j.1000-9787(2017)05-0123-04.

摘要

介绍了一种基于视觉伺服的农业机器人并联采摘系统

该系统由视觉系统、上位机、下位机、并联机构等4部分组成。视觉系统采集目标图像并传递给上位机

上位机对图像进行处理

识别和定位目标

计算并联机构的运动控制量

通过串口通信发送给下位机

下位机接收到控制量后

根据运动控制量驱动继电器模块作相应的开关动作

完成并联采摘臂的控制。实验证明:该系统对于实现农业机器人采摘作业具有可行性。

Abstract

A kind of agricultural robot parallel picking system based on visual servo is presented

which is composed of 4 parts: the visual system

the upper computer

the lower computer and the parallel mechanism.Images of targets are acquired by the visual system and transfer to the upper computer. The upper computer processes images

and identifies and locates object

calculates motion control quantity of parallel mechanism

send the motion control quantity to the lower computer through the serial communication. According to the motion control quantity

the lower computer drives relay modules to finish corresponding switch action and complete parallel manipulator control. Experiments show that the system is feasible for the implementation of agricultural robot picking operation.

关键词

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references

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