KEYWORDS: Control systems, Robotic systems, Optimization (mathematics), Detection and tracking algorithms, Fuzzy systems, Control systems design, Sensors
In order to further improve the comprehensive picking efficiency of picking robot in China and reduce the labor intensity of manual work, the optimization research on the execution system of current picking robot was carried. Taking the working control principle of picking robot as the breakthrough point, the fuzzy control algorithm was selected as the optimization core. On the basis of reasonable allocation of weights, the fuzzy control algorithm model of the picking execution system was built according to the characteristics of picking operation. Then an executable fuzzy control system was formed through the hardware configuration and software design, and the optimization experiment was carried out. The conclusion showed that the trajectory tracking accuracy and average obstacle avoidance accuracy of the system could be maintained above 96%, the picking success rate and comprehensive efficiency of the whole machine were improved by 9.25% and 8.94% respectively, and the system had stable operation and strong advantages, which would not only realize high-efficiency intelligent picking, but also provide reference value for similar picking or harvesting machinery equipment optimization, it would be worthy of promotion.
Magneto-rheological damper is a kind of intelligent actuator for semi-active control.The dynamical models of Magnetorheological damper was analyzed in this paper.The model of the extended Bingham was used widely.Then the simulation was carried out and the advantages and disadvantages of the two models were comparative analyzed.Finally,a new dynamical model with few parameters based on the tangent function was proposed.The physical meaning of the parameters were illustrated by simulation.The simulation results showed that the curve of the new model was smooth and accurate.It can be used for the simulation and study on the Magneto-rheological Damper.
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