粘弹性农业物料机器人抓取模型辨识与主动柔性控制

项目名称： 粘弹性农业物料机器人抓取模型辨识与主动柔性控制

项目编号： No.31471419

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 农业科学

项目作者： 周俊

作者单位： 南京农业大学

项目金额： 70万元

中文摘要： 机器人化是农业机械的一个重要发展方向，而粘弹性农业物料机器人抓取即是其中一项关键共性技术。本项目首先在粘弹性流变特性理论基础上，采用数据挖掘技术分析抓取过程中实时采集的接触力、位移、滑动等多传感器大数据中蕴含的多维特征信息或特征组合包，通过机器学习方法实现这些数据特征与理论模型参数之间关联，构建适宜主动柔性抓取控制的粘弹性农业物料弱物理模型。其次，根据此物理模型，探索多控制模式之间的稳定切换过程，研究粘弹性农业物料主动柔性控制方法，明确抓取损伤程度与快速抓取之间的定量联系。再次，融合三维点云空间局部法向量场数据和二维图像外观信息，建立抓取作业局部空间全息描述，增强机器人多视角、多切面分析能力，提高目标位姿参数测量精度。最后，完善实验平台，开展实验室和大田试验。总体研究目标是以果蔬自动采收为实例，探索粘弹性农业物料机器人抓取一般规律。

中文关键词： 农业机器人；抓取；数据挖掘；模型辨识；主动柔性控制

英文摘要： Robotization is an important development direction of agricultural machineris, in which the grasping of viscoelastic agricultural materials is a fundamental key technologyin. Firstly, rheological properties of the agricultural materials will be investigated according to theory of viscoelastic mechanics, and the multi-dimensional features and bags of feartures will be mined out from abundant data obtained in real time from the grasping process by the tactile sensors, force sensors and so on. Then a weak physical model will be constructed through combining the rheological properties and the mined features with machine learning. Secondly, based on the knowledges of this physical model, hybrid control method will be applied to optimize the grasping force for the 3-dimensional viscoelastic agricultural materials,and relationship between grasping damage and grasping efficiency will be demonstrated. Thirdly, 3-dimentional point cloud data and 2-dimensional image will be fused, and the holographic discription of local space for garsping manipulation will be constructed. In this way the robot's ablities to analyze local manipulation space in multi-views and multi-sections way can be enhanced and measurement precision of the pose of the fruits and vegetables in the natural environment can be improved. Finally, experimental platform will be improved and experiments will be carried out in both the laboratory and the field. The object of this project is to take automatic harvesting of fruits and vegetables as example and get general principles in the grasping of viscoelastic agricultural materials.

英文关键词： agricultural robot;grasping;data mining;model identification;active compliant control