Control Method of Clamping Mechanism of Fruit Sorting Robot Based on Machine Vision

Aiming at the shortcomings of the current automatic fruit sorting mechanism, based on the system architecture of the fruit automatic sorting robot, a fruit automatic sorting robot combining time delay estimation and smooth sliding mode impedance control method is proposed. The gripping mechanism control method uses the deviation between the expected gripping force and the actual contact gripping force as the input of the outer ring force impedance controller, the controller generates the correction amount for the reference trajectory of the inner ring position, and realizes the gripping force control through the position control.. This control method is easy to implement, but its control performance is directly related to the position control performance. The methods applicable to the position control of the clamping mechanism mainly include kinematic control and dynamic control. Compared with the kinematic control, the control based on the dynamic model considers the influence of the dynamic characteristics of the mechanism on the control performance, and its dynamic factors can be compensated by the controller, and theoretically, better control performance can be obtained. Focus on the research on the dynamics control of the clamping mechanism of the parallel robot.