摘要
为提高食品生产效率和保证食品卫生,提出一种基于智能机械手的食品分拣系统,该系统由6自由度机械臂、智能手爪、机器视觉以及人机接口等组成。建立了系统机械臂的运动学模型并给出其运动轨迹规划方法,采用遗传算法对关节运动轨迹进行了速度优化计算。实验结果表明所提食品分拣系统及其运动规划方法的有效性和可行性。
An intelligent manipulator based food sorting system is proposed in order to improve the efficiency and sanitation of food production.The proposed system is composed of a six-jointed robotic arm,an intelligent gripper,a vision unit and the human-robot interface. The kinematics model and trajectory planning method of the food sorting system are developed and then GA is used to optimize the trajectory of the motion of the joints of the robotc arm.A simulation study finds that the proposed food sorting system and the motion planning method are feasible and effective.
出处
《物流技术》
2011年第5期102-104,123,共4页
Logistics Technology
关键词
食品分拣
机械手
运动规划
遗传算法
food sorting
manipulator
motion planning
generic algorithm
