Year: 2025
Type: article
Abstract: Focusing on the mechanical characteristics of robotic dexterous hand tea-picking, this paper takes the harvesting of the premium tea Huangshan Maofeng as an example and proposes an adaptive impedance control method for tea-picking dexterous hands based on the Whale Optimization Algorithm (WOA) and Kolmogorov-Arnold Network (KAN). Firstly, within the impedance control framework, a KAN neural network with cubic B-spline functions as activation functions is introduced. Subsequently, the WOA is applied to optimize the B-splines, enhancing the network´s nonlinear fitting and global optimization capabilities, thereby achieving dynamic mapping and real-time adjustment of impedance parameters to improve the accuracy of tea bud contact force-tracking. Finally, simulation results show that under working conditions such as stiffness mutation and dynamic changes in desired force, the proposed method reduces the overshoot by 14.2% compared to traditional fixed-parameter impedance control, while the steady-state error is reduced by 99.89%. Experiments on tea-picking using a dexterous hand equipped with tactile sensors show that at a 50Hz control frequency, the maximum overshoot is about 6%, further verifying the effectiveness of the proposed control algorithm.
Source: Sensors
DOI: 10.3390/s25237219
Authors: Xin Wang, Shaowen Li, Junjie Ou
Institution: Anhui Agricultural University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
Funder: Chinese Academy of Engineering
OpenAlex ID: W4416695850