Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Agricultural Mechanization Research》 2016-07
Add to Favorite Get Latest Update

Design of Apple-picking Six DOF Manipulator Based on Iterative Learning and Intelligent Trajectory Planning

Chen Chuanxiong;Zhang Xueming;Wang Xiaozhi;Department of Modern Manufacturing Engineering,Yibin Vocational and Technical College;Jiyuan Vocational and Technical College;Wuhan University of Technology;  
In order to improve the apple picking efficiency,reduce the process of picking the leakage recovery rate and broken rate,it designed a new six degrees of freedom of the picking manipulator. The manipulator can complete clamping,rotating and pitching,rolling and rotary motion. Through neural network iterative learning algorithm,it can effectively control the manipulator trajectory,improve the picking process automation. In order to verify the six degree of freedom manipulator of apple picking the validity and reliability,the manipulator apple were picking test,and the use of pulse neural network PID regulating mode to adjust the trajectory error control. Through the test found that high precision error of the manipulator can be effectively complete picking,and loss rate and broken rate is very low,which is an efficient apple picking manipulator,design and promotion in other fruit and vegetable harvesting.
【Fund】: 湖北省自然科学基金项目(2014CFB322)
【CateGory Index】: TP241;S225.93
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 7 Hits
1 LI Hong,SHEN Dong(Geomatics Institute of Liaoning Province,Shenyang 110034,China);The Design and Implementation of Geographical Information Database based on ArcGIS Engine[J];Geomatics & Spatial Information Technology;2009-04
2 GUO Gang, WANG Yi(Qingdao TV University, Qingdao 266012, China);Recognize Unconstrained Handwritten Characters in BP Neural Network[J];Computer Knowledge and Technology;2008-33
3 ZHANG Nan1,DONG Xiao-jing2,ZHANG Jian3;Study on the coordinate transformation methods and accuracy from WGS-84 to BJ-54[J];Manufacturing Automation;2009-12
4 LI Wen-Jian1,JI Jiang-Tao(1,2) (1.Vehicle & Motive Power Engineering College,Henan University of Science & Technology,Luoyang 471003,China;2.School of Aerospace Science & Engineering,Beijing Institute of Technology,Beijing 100081,China);Research on Control of Obstacle Negotiation or Avoidance for Wheel-track Agricultural Robot[J];Journal of Henan University of Science & Technology(Natural Science);2007-04
5 JI Qing,DUAN Pei-yong,LI Lian-fang,et al.(School of Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China);Overview of CCPP algorithms for mobile robots[J];Journal of Shandong Jianzhu University;2007-04
6 WU Xiu-wen1, FENG Xiao-xia2, SUN Kang-ling2, WEI Fu-kui1 (1. Taian Agricultural Machinery Research Institute, Taian 271000, China; 2. Taishan Polytechnic, Taian 271000, China);Study on Navigation Electronic Map for Agricultural Robot[J];Agricultural Equipment & Vehicle Engineering;2010-03
7 LI Jiejia1,CHEN Hao1,LI Ying2 (1.School of Information and Control Engineering,Shenyang Jianzhu University,Shenyang,China,110168;2.Shenyang Academy of Instrumentation Science,Shenyang,China,110043);The Application of Neural Network Decoupling Control in the Central Air-Conditioning System[J];Journal of Shenyang Jianzhu University(Natural Science);2012-01
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 MA Lei-lei,LI Hong-wei,CHEN Hu,LI Li(Institute of Surveying and Mapping,Information and Engineering University,Zhengzhou 450052,Henan,China);Design and Realization of the Place Management Information System Based on ArcGIS Engine[J];Geomatics & Spatial Information Technology;2011-06
2 WANG Xin;SONG Hai-bing;JIANG Hao-bin;GENG Guo-qing;School of Automobile and Traffic Engineering,Jiangsu University;Jiangsu Gangyang Steering System Co.,Ltd.;;Simulation and bench test on by-pass flow control type ECHPS for large bus[J];Journal of Transport Science and Engineering;2014-01
3 ZHAO Huinan1,2,LIU Shuhua1,WU Fuzhang1,CHENG Yu11.School of Computer Science,Northeast Normal University,Changchun 130024,China 2.College of Humanities,Northeast Normal University,Changchun 130117,China;Research on boustrophedon complete coverage path planning based on binary search[J];Computer Engineering and Applications;2011-23
4 WANG Jun,CHEN Yong;Experimental study on energy conservation mechanism of electro hydraulic power steering system[J];Manufacturing Automation;2010-15
5 Huo Lizhi,Lv Xinmin,Guo Guisheng(College of Mechanical and Electronic Engineering,Northwest A & F University,Yangling 712100,China);Research of Electro-hydraulic Power Steering System for Tractors[J];Journal of Agricultural Mechanization Research;2010-03
6 Liu Yang(Liaoning Police Academy,Dalian 116036,China);Based on the GPS Precision Influence Factors of Police Patrol Control Measurement[J];Bulletin of Science and Technology;2013-02
7 Dou Lingjing1,Fang Xianfa1,Yang Xuejun2,Zhang Tie2,Wang Jinjiang2(1.Chinese Academy of Agricultural Mechanization Sciences,Beijing 100083,China;2.Modern Agricultural Equipment Co.,Ltd.,Beijing 100083,China);The Situation and Direction of Steering Technology on Self-propelled Sprayer All over the World[J];Journal of Agricultural Mechanization Research;2013-03
8 ZHANG Jia-bao;Dali Branch,Yunnan Institution of Forest Inventory and Planning;;Cangshan Forest Fire Prevention GIS System Based on ArcGIS Engine in Dali[J];Forest Inventory and Planning;2013-06
9 LIU Chang;ZHAO Fuchao;ZHU Linlin;ZHANG Zhi;Anqing Vocational and Technical College;;Principle and Design of a New-type Spraying Equipment[J];Mechanical Engineer;2014-06
10 SHEN Wen-long;XUE Jin-lin;ZHANG Yong;College of Engineering,Nanjing Agricultural University;Key Laboratory of Intelligent Agricultural Equipment in Jiangsu Province;;Development of electro-hydraulic steering system based on agricultural vehicle[J];Journal of Hunan Agricultural University(Natural Sciences);2014-03
China Proceedings of conference Full-text Database 1 Hits
1 Fang Mingzhu (School of Emetics and Urban Information,BUCEA Beijing 100044,China);Disease Investigation on the Collection mural using ArcGIS Engine[A];[C];2009
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 Wang Nan, Wang Yongfeng, Liu Jiren (Software Center,NEU, Shenyang 110006);Real Time Extraction and Description for Vehicle Trace Curves[J];JOURNAL OF NORTHEASTERN UNIVERSITY;1999-02
2 JIANG Rong an,WANG Han ding (Center South Electric Power Design Institute,Wuhan 430071,China);Using MapObjects to Develop Software of Scanning Vectorization[J];Electric Power Survey;2001-04
3 LIU Xiao-mei,QU Bao-cun,WANG Ting-ting,YANG Yan (School of Information and Control Engineering,Liaoning Petrol and Chemical University,Fushun 113001,China);Simulation and Predictive Control of Variable Air Volume Air-conditioning Blast Pipe Static Pressure[J];Journal of Anhui University of Technology(Natural Science);2010-02
4 WANG Cong-hui,ZHANG Gen-bao(College of Electric & Information Engineering,Shaanxi University of Science & Technology,Xi'an 710021,China);Recursive Wavelet Neural Network Decoupling Control Algorithm and Its Application Research in Industry[J];Control and Instruments in Chemical Industry;2008-04
5 LI Hongxing WANG Jiayin & MIAO ZhihongDepartment of Mathematics, Beijing Normal University, Beijing 100875, China;Modelling on fuzzy control systems[J];中国科学A辑(英文版);2002-12
6 YUAN Zeng ren\ GAO Ming (Dept. of Computer Science and Technology, Tsinghua University, Beijing, 100084);A NEW METHOD OF REAL-TIME NAVIGATION AND OBSTACLE AVOIDANCE FOR MOBILE ROBOT IN DYNAMIC ENVIRONMENT[J];ROBOT;2000-02
7 WANG Cheng-li,LU Jian-gang(State Key Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou Zhejiang 310027,China);Variable discourse fuzzy control of VAV air-conditioning terminal unit[J];Journal of Computer Applications;2011-02
8 DENG Jin-mei(College of Information Sciences and Technology,Donghua University,Shanghai 201620,China);Research on FNN Controlling in Central Air-conditioning System[J];Computer and Modernization;2011-04
9 YANG Yu- hua, GUO Sheng- quan;On the Problem of Coordinate Conversion between WGS-84 and BJ-54[J];Sci/tech Information Development & Economy;2004-03
10 LI Hui(The Key Lab of High Voltage Engineering and Electrical New Technology in Ministry of Education,College of Electrical Engineering,Chongqing University,Chongqing 400044,China.E-mail: cqulh@163.com);Design of Multivariable Fuzzy-neural Network Decoupling Controller[J];Control and Decision;2006-05
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved