This paper designs a three-axis robotic arm system based on Halcon vision and Mitsubishi PLC to address the problems of low efficiency and high damage rate in agricultural picking. Millimeter-level fruit positioning was achieved through HSV color space conversion and morphological processing, and the coordinates were transmitted to FX3U PLC via the CC-LINK protocol; The position-speed-current three-loop closed-loop architecture was constructed using the FX3U-2PG module, and the linear interpolation algorithm was used to drive the coordinated movement of the X, Z, and C axes to solve the path planning problem; Thin-film sensors are used at the end to achieve PID control of clamping force. The experiment showed that the success rate of 300 picks was 96%, and the accuracy of 100 repeat positioning was 1.8mm. The system provides a high-precision solution for agricultural automation.


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    Title :

    Research on the Control System of Strawberry Picking Robot Based on Halcon Vision and Multi-Axis Collaborative Control of Mitsubishi PLC


    Contributors:
    Wang, Jiping (author) / Wang, He (author) / Deng, Dachong (author) / Wang, Tianyun (author) / Xia, Dong (author) / Qi, Wentao (author)


    Publication date :

    2025-06-06


    Size :

    678623 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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