Electrical Control System of Harvesting Robotic Arm Based on PLC and Particle Swarm Algorithm
Xibao Sun, Xiuli Zhai
Journal of Electronic Systems, Vol. 14, No. 4, 2024.
DOI: https://doi.org/10.6025/jes/2024/14/4/117-123
Link: https://www.dline.info/jes/fulltext/v14n4/jesv14n4_1.pdf
Abstract:
This paper aims to explore a new control system optimization algorithm that combines
PLC controller with computer image processing technology to enhance the control
performance of a harvesting robotic arm. The algorithm autonomously selects the
optimal picking sequence based on the collected images of fruits, significantly reducing
the end-effectorâ€™s operation time and greatly improving work efficiency. By applying
the particle swarm algorithm, we compared the distance of the robotâ€™s moving tail
and the picking accuracy in an actual scenario of harvesting bell peppers. It was
found that the application of the particle swarm algorithm can greatly improve the
positioning and recognition accuracy of fruit trees and substantially reduce
transportation distances, thereby significantly enhancing work efficiency.