Research in controlled moves of robotic manipulators for biological object processing

Abstract

Modern robots are complex technical devices with the most valuable properties being the ability to perform certain tasks better, quicker and more accurately than a human being. Therefore, even there are many areas of robot application, they were first introduced in the areas requiring a lot of mechanical and simple manual work: milking robots; sheep shearing robots; maize field robots that cut pest-damaged leaves to prevent further spreading; mechanical weeding and micro-spraying robots; greening, seedbed preparation, spraying, growing are performed with smaller agricultural robots that navigate using GPS guidelines; handling robots; biological object detection robots. To be more specific, biological object detection robots in agriculture face numerous challenges as only few of the listed applications do not require robot movement, because in agriculture the majority of operations are related to movement of machines. Moreover, in contrast to industry, when performing the assigned tasks they need to interfere with various plants, soil, irregularities of various types, biological objects, etc., which impairs their accuracy and mobility and results in different power required for the same action. Therefore, the subject of the study in this article is a robotic arm for detecting and removing/eliminating biological objects, and the goal of the study was to develop the methods for managing the movement-dynamics system as well as for planning the trajectory of the robotic arm ensuring the manipulator will detect biological objects retaining wide enough movement spectrum and consistency of movement modes under the influence of external uncontrolled disturbances. Based on the above, a model of a robotic arm was developed after calculating the missing parameters for the engines of the experimental robotic arm, which was able to generate a control signal and calculate the linear and angular velocities and accelerations of the kinematic chain motion characteristics, linear accelerations of the chain centres of mass, and the coordinates of the robotic arm tip. The developed model allows optimization of the manipulator's operation and supports constant trajectory of the robot working tool (camera and laser).