Motion control system of remote control pruning robot for standing trees.

摘要

There has been an increasing application of pruning robot for planted forests due to the growing concern on the efficiency and safety issues.Accurate motion control is important in improving the pruning robot reliability and performance. In this paper,a motion logic control system based on the complex programmable logic device(CPLD) for remote control pruning robot was presented.A self-developed precision position sensor based on the complex working demands was introduced.The digital logic processing circuit and a feedback control method for real time control were proposed.Simulation results indicate that this motion control system is very stable and reliable.This work brings forth a new technique in the field of accurate logical motion control for pruning robot.The whole system has been successfully employed in the BSR——Z23——001A remote control pruning robot.