除草机器人机械臂的逆向求解与控制

设计了一种基于机器视觉导航和杂草识别的除草机器人模型,该机器人能沿作物行间自主行走并能准确地识别和"清除"杂草。设计了除草机器人的机械臂除草执行系统,求取了机械臂运动学逆解,用VC++开发了控制程序。试验显示,图像处理算法所需时间少,能够适应户外自然光线在一定范围的变化,机械臂能够平稳动作并精确定位杂草目标。

A weeding robot model based on machine vision was constructed. The robot could detect and remove weeds by walking autonomously along crop rows. The weeding robotic arm was designed and its inverse kinematics solution was analyzed. Computer programs for robot control were compiled. Experiments showed that the image processing algorithm was timesaving and robust for the lightness variation; the weeding robotic arm could move steadily and orient weeds precisely.

江苏省国际科技合作项目(BZ2005044);;教育部留学回国人员科研启动基金资助