Motion Control Analysis of the Fruit-Trees Robot
The article tracks the fruit-trees robot, and analyzes the fruit-trees robot’s dual-motor control system. Based on the speed incremental PID closed-loop control algorithm of the step DC motor, the PID controller’s proportional coefficient, integral coefficient and differential coefficient is concluded. It demonstrates from the stimulations and experiments that the usage of speed incremental PID control do better at the response speed and stability than the open-loop control motor when the robot is run by a straight line on the ground at the 3000rpm.
Robin G. Qiu and Yongfeng Ju
J. A. Yu and M. C. Fu, "Motion Control Analysis of the Fruit-Trees Robot", Applied Mechanics and Materials, Vols. 135-136, pp. 1179-1182, 2012