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Development of a DSP based control system for a parallel high-quality tea plucking robot

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2015 ASABE Annual International Meeting  152182117.(doi:10.13031/aim.20152182117)
Authors:   Nan Li, Yong Chen, Yeyin Shi, Feng Gao, Jun Che, Jun Chen
Keywords:   Tea-plucking robot, delta parallel mechanism, inverse kinematics, tea flushes recognition, DSP control

Abstract. A parallel high-quality tea plucking robot was constructed and tested, which could locate and pluck tea flushes one by one. A machine vision based system was developed to detect the tea flushes. While the locations of the tea flushes were detected based on color features, the height of the tea flushes were measured by a three-dimensional profilometry based on fringe projection. This paper mainly describes the control system of the robot, which is driven by four DC servo motors. A robot controller based on DSP processor was designed and fabricated to control robot movement. The motor rotation angles were calculated according to tea flushes’ three dimensional coordinates by the robot controller. Experimental results showed that the robot was able to move with a precision accuracy of ±2mm. It was functional and practical for plucking high-quality tea.

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