组培苗移植机器人移苗作业轨迹规划

摘要:

为实现5自由度关节式组培苗移植机器人快速从培养瓶中取出组培苗而不与苗瓶产生碰撞，针对运苗和取苗作业过程对手爪运动路径和速度的要求，提出了分别在关节空间中采用5次多项式插值和直角坐标空间中采用沿空间直线运动的方式规划机器人的运动轨迹，建立了运动轨迹的数学模型，并结合实际工作过程，对机器人的运动轨迹进行了计算机仿真。仿真结果表明，规划的轨迹平滑连续，无抖动和停顿，能够保证机器人正常工作。实际运行情况表明，组培苗移植机器人基本上能按照规划的轨迹运行，平均位置偏差小于0.5mm，满足移苗作业的精度要求。

Abstract:

Aimed at different working courses of conveying and grasping plantlet, the method of using quintic polynomial in joint space and beeline in Cartesian coordinate space was adopted to plan the motion trajectory of the 5-DOF tissue culture plantlet transplanting robot. The robot could take out plantlet fleetly from culture bottle and not hit with the bottle at the same time. The mathematics model of the motion trajectory was established and the computer simulation on the motion trajectory of the robot was carried out. The simulated trajectory curves of the robot were smooth and successive, which could assure the robot working normally. The practical tests show that the robot can run according to the trajectory planning basically and the average warp is less than 0.5mm. It can realize the precision of transporting seedling.  