中文摘要：

针对以往采摘机器人多采用封闭集中式控制系统，缺乏通用性、可扩展性差和可靠性低等问题，在研制开发苹果采摘机器人控制系统的工作中，采用了开放分布式结构．根据苹果采摘机器人的机械结构及其运动特点，在硬件上选用工控机、伺服驱动器等设备，通信上采用结构简单、组网容易、造价低廉的RS-485网络，从而保证了系统的软硬件开放性，同时使得系统能够分布式控制，提高了机器人的安全性．此外，对系统的控制算法、软件也进行了设计，其中着重阐述了RS-485网络的通信协议和通讯方式．最后进行了通讯试验和苹果抓取试验，验证了系统的有效性．

英文摘要：

To overcome some problems of previous harvesting robot with close and concentrated control system, such as commonality shortage, poor expansibility and reliability, an open and distributed architecture was used in the development of apple harvesting ro- bot. Based on mechanical structure and movement characteristic of apple harvesting robot, the industrial control computer, servo driv- er and other hardware devices were selected, and RS-485 communication network which is characterized with simplicity structure, easy to conduct network and cheap was adopted, in order to ensure opening of system hardware and software, distributed control of system and to advance safety of robot. In addition, the control algorithm and software of system were designed, and the communication protocol and mode of RS-485 network was mainly elaborated. Finally, through the experiments of communication and apple har- vesting, the availability of the system was verified.