CAJ | 학술논문

为了提高农业机器人作业距离和速度的控制精度，在机器人自动控制模型中引入了模糊控制理论，并使用Kriging 空间分析模型进行了优化；综合考虑 ADMAS 动力学分析、Kriging 模型的位移速度估计，建立了机器人位移和速度估计方程，并通过MatLab对算法进行了编程。同时，提出了一种基于CATIA、ADAMS、AMESim、Mat-Lab软件的联合仿真方法，并利用 ISIGHT 软件搭建了集成化仿真平台。通过 CATIA 建模、ADAMS 文件导入、AMESim 自动控制系统设计和MatLab 联合仿真表明：采用搭建的基于联合仿真的机电液一体化系统设计优化平台进行优化是可行的，结果是可靠的。
위료제고농업궤기인작업거리화속도적공제정도，재궤기인자동공제모형중인입료모호공제이론，병사용Kriging 공간분석모형진행료우화；종합고필 ADMAS 동역학분석、Kriging 모형적위이속도고계，건립료궤기인위이화속도고계방정，병통과MatLab대산법진행료편정。동시，제출료일충기우CATIA、ADAMS、AMESim、Mat-Lab연건적연합방진방법，병이용 ISIGHT 연건탑건료집성화방진평태。통과 CATIA 건모、ADAMS 문건도입、AMESim 자동공제계통설계화MatLab 연합방진표명：채용탑건적기우연합방진적궤전액일체화계통설계우화평태진행우화시가행적，결과시가고적。
In order to improve the operation distance and speed control precision agricultural robot , the fuzzy control the-ory has been introduced to the robot automatic control model in this paper , and robot displacement and speed estimation equation is established and the algorithm by Matlab programming , using the optimized Kriging spatial analysis model , considering ADMAS dynamics analysis and Kriging model of displacement velocity estimation .It is put forward that a kind of joint simulation method based on CATIA , ADAMS, AMESim and MatLab software , and the integrated simulation platform has been built using ISIGHT software .It is showed that the optimization is feasible using mechanical-electrical-liquid integration system design optimization platform based on joint simulation , and the result is reliable , through CATIA modeling , ADAMS file importing , AMESim automatic control system design and MATLAB joint simulation .