面向时间与能耗的工业机器人运动参数优化

Motion Parameters Optimization of Industrial Robots for Energy and Time

针对工业机器人作业时间和作业能耗,提出一种运动参数优化方法。采用五次多项式拟合机器人关节空间中每两个路径点之间的轨迹,基于机器人运动学和动力学建立时间和能耗模型,使用加权系数法构建了以绿色度最大为目标的优化模型。为了便于计算和避免算法陷入局部最优,引入增广拉格朗日乘子方法将模型简化,采用带收缩因子的粒子群算法进行求解。运用所提方法对中纤板生产线作业机器人运动参数进行优化,对两种轨迹函数所得结果进行对比,证明了所提方法的合理性,表明该方法能有效平衡机器人作业时间和作业能耗,提高机器人作业过程绿色度。

Aiming at the operating time and energy consumption of industrial robots,an optimization method of motion parameters was proposed.A quintic polynomial was used to fit the trajectory between each two path points in the joint space of the robot,and the time and energy consumption models were established based on the kinematics and dynamics of the robot.The weighted coefficient method was used to define an optimization model with the maximum greenness as the goal.In order to facilitate the calculation and avoid falling into the local optimum,the augmented Lagrangian multiplier method was introduced to simplify the model,and the particle swarm algorithm with shrink factor was used to solve the problem.By using the method proposed in it,the movement parameters of the working robot of MDF production line were optimized,and the results obtained from the two kinds of trajectory functions are compared to prove the rationality of the proposed method.It is shown that the method can effectively balance the robot operation time and energy consumption,improve the greenness of the robot operation process.