精准农业作业中机械臂的运动学分析与控制
摘 要
随着现代农业向精准化、智能化方向发展，机械臂在农业作业中的应用日益广泛。本文针对精准农业作业中机械臂的运动学分析与控制问题展开研究，旨在提高机械臂在复杂农田环境下的操作精度和效率。研究首先基于D-H参数法建立了机械臂的运动学模型，并通过逆运动学求解实现了对机械臂末端位姿的精确控制。为应对农田环境的复杂性和不确定性，本文提出了一种基于自适应模糊控制的动态路径规划算法，该算法能够根据实时环境变化调整机械臂的运动轨迹，从而有效避免障碍物并优化作业路径。实验结果表明，相较于传统PID控制方法，本文提出的自适应模糊控制算法在定位精度和响应速度上分别提升了15%和20%。此外，本文还通过在中国多个典型农田场景中的实际应用验证了该算法的可靠性和实用性。
关键词：机械臂；精准农业；自适应模糊控制
KINEMATIC ANALYSIS AND CONTROL OF THE ROBOTIC ARM IN PRECISION AGRICULTURE OPERATIONS
ABSTRACT
With the development of modern agriculture to the precision and intelligent direction, the application of mechanical arm in agricultural operations is increasingly wide. This paper studies the kinematic analysis and control of robotic arm in precision agriculture operation, aiming to improve the operation accuracy and efficiency of robotic arm in complex farmland environment. We first established the kinematic model of the robotic arm based on the D-H parameter method, and realized the precise control of the terminal pose of the robotic arm by solving the inverse kinematics. In order to cope with the complexity and uncertainty of the farmland environment, this paper proposes a dynamic path planning algorithm based on adaptive fuzzy control, which can adjust the motion trajectory of the mechanical arm according to the real-time environmental change, so as to effectively avoid obstacles and optimize the operation path. The experimental results show that the adaptive fuzzy control algorithm improves the localization accuracy and response speed by 15% compared to the traditional PID control method. Moreover, the reliability and practicability of the algorithm are verified through practical application in several typical farmland scenarios in China.
KEY WORDS：Mechanical arm; precision agriculture; adaptive fuzzy control
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 研究背景及意义 1
1.2 研究现状 1
第2章 机械臂运动学建模与分析 3
2.1 机械臂正运动学模型构建 3
2.2 机械臂逆运动学求解方法 3
2.3 基于DH参数的运动学分析 4
第3章 机械臂控制策略与优化 5
3.1 基于PID的机械臂控制方法 5
3.2 自适应控制策略在精准农业中的应用 5
3.3 控制算法的优化与仿真验证 6
第4章 精准农业作业中的机械臂应用案例分析 7
4.1 农田喷洒作业中的机械臂运动控制 7
4.2 果实采摘作业中的机械臂路径规划 7
4.3 基于视觉反馈的机械臂精准定位技术 8
第5章 结论 9
参考文献 10
致 谢 11
摘 要
随着现代农业向精准化、智能化方向发展，机械臂在农业作业中的应用日益广泛。本文针对精准农业作业中机械臂的运动学分析与控制问题展开研究，旨在提高机械臂在复杂农田环境下的操作精度和效率。研究首先基于D-H参数法建立了机械臂的运动学模型，并通过逆运动学求解实现了对机械臂末端位姿的精确控制。为应对农田环境的复杂性和不确定性，本文提出了一种基于自适应模糊控制的动态路径规划算法，该算法能够根据实时环境变化调整机械臂的运动轨迹，从而有效避免障碍物并优化作业路径。实验结果表明，相较于传统PID控制方法，本文提出的自适应模糊控制算法在定位精度和响应速度上分别提升了15%和20%。此外，本文还通过在中国多个典型农田场景中的实际应用验证了该算法的可靠性和实用性。
关键词：机械臂；精准农业；自适应模糊控制
KINEMATIC ANALYSIS AND CONTROL OF THE ROBOTIC ARM IN PRECISION AGRICULTURE OPERATIONS
ABSTRACT
With the development of modern agriculture to the precision and intelligent direction, the application of mechanical arm in agricultural operations is increasingly wide. This paper studies the kinematic analysis and control of robotic arm in precision agriculture operation, aiming to improve the operation accuracy and efficiency of robotic arm in complex farmland environment. We first established the kinematic model of the robotic arm based on the D-H parameter method, and realized the precise control of the terminal pose of the robotic arm by solving the inverse kinematics. In order to cope with the complexity and uncertainty of the farmland environment, this paper proposes a dynamic path planning algorithm based on adaptive fuzzy control, which can adjust the motion trajectory of the mechanical arm according to the real-time environmental change, so as to effectively avoid obstacles and optimize the operation path. The experimental results show that the adaptive fuzzy control algorithm improves the localization accuracy and response speed by 15% compared to the traditional PID control method. Moreover, the reliability and practicability of the algorithm are verified through practical application in several typical farmland scenarios in China.
KEY WORDS：Mechanical arm; precision agriculture; adaptive fuzzy control
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 研究背景及意义 1
1.2 研究现状 1
第2章 机械臂运动学建模与分析 3
2.1 机械臂正运动学模型构建 3
2.2 机械臂逆运动学求解方法 3
2.3 基于DH参数的运动学分析 4
第3章 机械臂控制策略与优化 5
3.1 基于PID的机械臂控制方法 5
3.2 自适应控制策略在精准农业中的应用 5
3.3 控制算法的优化与仿真验证 6
第4章 精准农业作业中的机械臂应用案例分析 7
4.1 农田喷洒作业中的机械臂运动控制 7
4.2 果实采摘作业中的机械臂路径规划 7
4.3 基于视觉反馈的机械臂精准定位技术 8
第5章 结论 9
参考文献 10
致 谢 11
