The Structure and Control Analysis of AMR Automatic Harvesting Robot

Abstract

The rapid development of modern agriculture make the growth of agricultural wheeled robot multibody mechanical system towards Flexible robot. The degree of freedom increases and the corresponding system composition structure becomes more complex. This paper designed and developed the fruit and vegetable automatic harvesting robot AMR1, proposed a generalized dynamic modeling method based on the spatial operator algebra theory. The problem of robot inverse kinematics is solved by ELM neural network. Also, PID-SMC control algorithm of 6 degree of freedom manipulator is designed further to real-time control of the trajectory tracking of robot arm. The simulation results show that the proposed method is practicable and effective.