Bionic Perception Method of Navel Orange Plucking Position Based on Fmincon and PD Angle Control
نویسندگان
چکیده
In this paper, a bionic perception method of navel orange plucking position based on Fmincon and Proportional Differential (PD) angle control is proposed to solve the problems wind disturbance green branches in dynamic unstructured environment. Different from these algorithms that limited two-dimensional images, realizes picking three-dimensional. Meanwhile, robot algorithm are achieved simultaneously. Firstly, an optimal solution model global target rotation system established optimization problem approach motion. Secondly, PD constructed specific problems. Finally, joint simulation platform for robots Solidworks, Adams, Simulink given; validity accuracy were verified. The experimental results show rate 95%, error each mechanism displacement less than 0.5 degrees 10mm, respectively. total time optimized calculation system's stability only about 0.33s. This suitable rapid active under
منابع مشابه
Study on Storage Characteristic of Navel Orange Based on ANN
In order to predict storage life of navel orange, The model for the variable regularity of total soluble sugar, total acidity, vitamin C, soluble solids, the sugar-acidity ratio in navel orange according to storage time was established based on BP artificial neural network . The results show that the multi-factor BP artificial neural network model has better predicted effect than single-factor ...
متن کاملThe Study on Navel Orange Traceability Chain
Navel orange is one of the characteristic agricultural products in the middle region of china. The traceability system for navel orange can enhance consumer confidence due to the “stained navel orange” incident. Research on the navel orange traceability chain is the foundation and premise of building the traceability system. Based on the analyses of whole food chain of navel orange from origin ...
متن کاملBionic Robot Control based on Advanced Updating
In view of the balance control problem of self-balance robot, the reinforcement learning mechanism based on the advanced updating is proposed as a self-balance bionic learning algorithm of the robot. This algorithm can choose optimal behavior above the baseline with the certain probability by using baseline in the advanced updating and unifying the probability curiosity mechanism in reinforceme...
متن کاملResearch on Navel Orange Safety Production Information Management System
To deal with the incident, and guarantee the quality safety of navel orange, traceability system are used to record the information from tree planting to fruit sale. Navel orange safety production information management system, which manages the whole process from tree planting to circulation, achieves the entire information management except sale step of the navel orange food chain, is the cor...
متن کاملNondestructive Measurement of Sugar Content in Navel Orange Based on Vis-NIR Spectroscopy
The Vis-NIR spectroscopy technology was studied on nondestructive measurement of sugar content in navel orange. Three different spectral ranges of 450-1000nm,1000-1800nm and 450-1800nm were selected, respectively and five different spectral pre-processing methods of Standard Normal Variate (SNV), first derivative (FD), second derivative (SD), multiplicative scatter correction (MSC) and smoothin...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International journal of engineering. Transactions B: Applications
سال: 2022
ISSN: ['1728-144X']
DOI: https://doi.org/10.5829/ije.2022.35.11b.22