Control of Transplanting Seedlings Robot Based on 3-CRR Parallel Mechanism

摘要

A new 3-CRR parallel mechanism which was complete decoupling for the design of transplanting seedlings had been proposed, and its kinematics was analyzed. The anticipant trajectory had been transformed into generalized location coordinates of driving joint. The intelligent control of the computers within the scope of the work had been completed. In closed-loop control circuit, the improved feed-forward compensation fuzzy PID control principle was adopted. By detecting encoder's feedback signals, continuous trajectory interpolation had been used to achieve the precise control of the robot joints. An intelligent self-searching transplanting robot was developed, the robot automatically calculated the coordinates of the roots of seedlings and automatically generated transplanting trajectory in the humanoid intelligent way. Modular design and object-oriented programming methods were mainly used in the control system of transplanting seedlings robot, and it was compiled by VC + +6.0.