Trajectory planning and motion control of full-row seedling pick-up arm

Authors

  • Ling Ren 1. College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China; 2. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture and Rural Affairs, Shihezi 832003, China
  • Ning Wang 1. College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China; 2. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture and Rural Affairs, Shihezi 832003, China
  • Weibin Cao 1. College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China; 2. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture and Rural Affairs, Shihezi 832003, China
  • Jiangquan Li 1. College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China; 2. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture and Rural Affairs, Shihezi 832003, China
  • Xingchen Ye 1. College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China; 2. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture and Rural Affairs, Shihezi 832003, China

Keywords:

trajectory planning, motion control, motion trajectory simulation, transplanter, stepper positioning

Abstract

Frequent start-stops of automatic seedling transplanters would lengthen the seedling picking time due to alternating movement of the motor, and cause positioning errors and frequent motor vibrations when starting the machine. To solve these problems and ensure the pick-up continuity of automatic transplanters, in this study the smooth circular arc interpolation algorithm and the least square method for multinomial curve fitting were used to conduct the trajectory planning of automatic transplanter based on the movement of the pick-up arm of the transplanter. Velocity and time curves were fitted in segments to acquire motion control parameters and further tracking control was conducted. The mathematical model of the control system was established using Simulink, and simulation analysis and system debugging test were performed. Experiments show that the trajectory curves obtained by MATLAB’s data processing can realize the continual and smooth motion trajectory of the pick-up arm; stepper motor velocity control can effectively track the planning curve and improve the seedling pick-up efficiency. The pick-up and pushing time of each motion of the planned plug seedling transplanter reduced by 1.0678 s and the start-stop times reduced from 6 to 1, which solved the frequent motor vibrations when starting the machine and improved the stability of the system. In addition, overstep and out-of-step of the motor at the start-stop moment were avoided and displacement error was reduced. Keywords: trajectory planning, motion control, motion trajectory simulation, transplanter, stepper positioning DOI: 10.25165/j.ijabe.20201303.5264 Citation: Ren L, Wang N, Cao W B, Li J Q, Ye X C. Trajectory planning and motion control of full-row seedling pick-up arm. Int J Agric & Biol Eng, 2020; 13(3): 41–51.

References

Han C J. Design and experimental study on automatic feeding system of plug seedling transplanting machine. PhD dissertation. Nanjing: Nanjing Agricultural University, 2014, 6. 137p.

Sun G X. Automatic plug seedlings transplanting robot based on machine vision. Master dissertation. Nanjing: Nanjing Agricultural University, 2009, 12. 75p.

Han C J, Yang W Z, Zhang X J, Guo H. Status and analysis of automatic transplanting technology. Xinjiang Agricultural Mechanization, 2011; 5: 5–6.

Chen Q, Yu J, Chen Y S, Hu K, Gao Q S. Development status of vegetable transplanting machinery at home and abroad. Vegetables, 2016; 8: 76–78.

Cui W, Yan H, Gao X W, Chen K. Development Status and trend of dryland transplanting machine. Agricultural Engineering, 2015; 5(2): 15–18. (in Chinese)

Ma R. The Design and research on the full-row-pincette-type picking-up mechanism and control system of potted-seedling automatic transplanter. Master dissertation. Shihezi: Shihezi University, 2018; 5. 67p.

Wei X H, Bao S, Liu X K, Liu L C, Mao H P. Design and experiment on potted-seedling automatic transplanter control system for motion coordinating. Transactions of the CSAM, 2016; 47(12): 1–7, 52. (in Chinese)

Xiao J X, Zhang H, Li B R, Li G L. Continuous transition algorithm of line segments based on improved circle transition. Computer Integrated Manufacturing Systems, 2019; 25(9): 2248–2255. (in Chinese)

Niu F F. Trajectory planning for industrial palletizing robot based on circular interpolation. Machine Building & Automation, 2018; 47(4): 149–151. (in Chinese)

Han L H. Design of the picking seedling machinery on the plug seedlings auto-transplanter. In: Proceedings of 2011 Annual Conference of CSAE, Chongqing, China. October 22, 2011. (in Chinese)

Li J G, Yin W Q, Hu F, Zuo D L. Trajectory simulation of seedling fetching robot arm based on MATLAB/Simulink. China Manufacturing Information, 2009; 38(15): 27–29, 34. (in Chinese)

Guo G M, Wang S W, Zhang W J, Feng J B. Research of 5-RManipulator arc trace control based on artificial constraint mode switching. Machine Tool & Hydraulics, 2018; 46(11): 1–6, 89. (in Chinese)

Dai P. 3D positioning of human back area based on mobile phone. Master dissertation. Xi'an: Xi'an University of Electronic Science and Technology, 2017; 6. 77p.

He P, Li Y, Xu X J. Research on high-accuracy variable speed control for stepping-motor based on DSP. Ordnance Industry Automation, 2007; 26(11): 86–87, 89. (in Chinese)

Wang D, Huang H L, Jing M, Du J S, Zhao Y Y, Liu X D. Development of stepping motor control experiment device based on PLC. Equipment Manufacturing Technology, 2018; 9): 47–49. (in Chinese)

Wang Q, Cao W B, Zhang Z G. The research on automatic pick-up plug seedlings mechanism. Journal of Agricultural Mechanization Research, 2012; 11: 76–78, 82. (in Chinese)

Jin X J. Optimization design and tests of seedling pick-up mechanism of planetary gear train with combined gear transmission of incomplete eccentric circle gear and bon-circular Gears. Master dissertation. Hangzhou: Zhejiang University of Science and Technology, 2016; 12. 57p.

Gong Z H. Numerical control technology (second edition). Beijing: Mechanical Industry Press, 2010.

Kong D P, Zhang G P, Zhang Y J. Improvement of time segmentation interpolation algorithm based on arc Interpolation. Machinery & Electronics, 2010; 2: 33–37. (in Chinese)

Zhang J Y, Li G J. 12 lectures on MATLAB mathematics experiment. Lanzhou: Gansu Nationalities Publishing House, 2011.

Yuan Q N, Wang L L, Liu Y Y. Research on velocity control method for double-Column stacker. Mechanical Design & Manufacturing, 2016; 5: 103–106. (in Chinese)

Yang S G, Wang C H, You B, Liu Y W. Computer control of multi-stepping and their motion planning. Journal of Harbin University of Science and Technology, 2000; 5(3): 75–77. (in Chinese)

Li Y F. VIATT: A virtual instrument for the Intelligent testing of angular transducer. Journal of Changchun University (Natural Science Edition), 2011; 21(12): 36–41. (in Chinese)

Hu J Q. Design method for two-dimension uniform linear interpolation. In: 2010 Proceedings of China Instrumentation and Measurement Technology Conference. 29 October, Shenzhen, China. China Instrument and Control Society: Chinese Journal of Scientific Instrumentation, 2010. (in Chinese)

Zhang G L, Sun S L, Wang L, Zhao L K. Control system design of three axis manipulator based on PLC and Kingview. Manufacturing Automation, 2018; 40(11): 93–96.

Downloads

Published

2020-06-08

How to Cite

Ren, L., Wang, N., Cao, W., Li, J., & Ye, X. (2020). Trajectory planning and motion control of full-row seedling pick-up arm. International Journal of Agricultural and Biological Engineering, 13(3), 41–51. Retrieved from https://www.ijabe.migration.pkpps06.publicknowledgeproject.org/index.php/ijabe/article/view/5264

Issue

Vol. 13 No. 3 (2020): IJABE

Section

Applied Science, Engineering and Technology

License

IJABE is an international peer reviewed, open access journal, adopting Creative Commons Copyright Notices as follows.

Authors who publish with this journal agree to the following terms:

  1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
  3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).