<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper aims at improve the poor stability and the fluttering problems on picking apples for picking robot arm, we establish the dynamics model of Picking Robot Arm using Lagrange equation and divide the whole movement space of Picking Robot Arm into stretch area and picking area by analyzing the dynamic model. Making full using of the model, we put forward to the strategy based on the extension energy control and LQR Zone control. Furthermore, we solve the problem on ensuring the picking robot arm’s energy increasing for the picking stretch process. The energy stability control study on establishing the robust performance analysis and design in theory lays a foundation for other relevant stability study.</p></abstract>

This paper aims at improve the poor stability and the fluttering problems on picking apples for picking robot arm, we establish the dynamics model of Picking Robot Arm using Lagrange equation and divide the whole movement space of Picking Robot Arm into stretch area and picking area by analyzing the dynamic model. Making full using of the model, we put forward to the strategy based on the extension energy control and LQR Zone control. Furthermore, we solve the problem on ensuring the picking robot arm’s energy increasing for the picking stretch process. The energy stability control study on establishing the robust performance analysis and design in theory lays a foundation for other relevant stability study.

Research On Lqr Zone Control Algorithm For Picking Robot Arm

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Research On Lqr Zone Control Algorithm For Picking Robot Arm"}

This paper aims at improve the poor stability and the fluttering problems on picking apples for picking robot arm, we establish the dynamics model of Picking...

Research On Lqr Zone Control Algorithm For Picking Robot Arm

Publié en ligne: 01 sept. 2014

Pages: 1174 - 1200

Reçu: 03 mai 2014

Accepté: 01 sept. 2014

DOI: https://doi.org/10.21307/ijssis-2017-700

Mots clés
Picking Robot Arm, the zone control, dynamic model, LQR

© 2014 Zhang Zhiyong et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Research On Lqr Zone Control Algorithm For Picking Robot Arm

Publié en ligne: 01 sept. 2014

Pages: 1174 - 1200

Reçu: 03 mai 2014

Accepté: 01 sept. 2014

DOI: https://doi.org/10.21307/ijssis-2017-700

Mots clésPicking Robot Arm, the zone control, dynamic model, LQR

© 2014 Zhang Zhiyong et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Picking Robot Arm, the zone control, dynamic model, LQR