Compliant Grasping Control for Apple Harvesting Robot End-effector

In order to achieve compliant picking of apple, a modified impedance control method for apple picking robot end-effector is put forward in this study. In the beginning, Burgers model served to represent the rheological properties of apples and to further study the biological characteristics of force and deformation of apple under gripping. Then, a force-based impedance control system is devised to realize force tracking. Based on this, the function of impedance coefficients self-tuning is constructed to achieve the purpose of adaptive adjustment. The simulation results demonstrate that the parameter selftuning impedance control has a good control effect. The contact force obtained can track the desired force quickly and the force error is small.