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《Journal of Agricultural Mechanization Research》 2016-07
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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
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