摘要
对码垛食品机器人结构进行分析,构建其运动学模型并将模型进行函数表达;并在此基础上结合机器人的工作工况采用三次样条函数进行合理的轨迹规划,建立了以时间和抖动为最优目标的优化模型,再利用粒子群算法对目标模型进行优化。进一步通过实验验证,结果该方法能够在保证稳定性的前提下提高码垛食品机器人的执行效率。
The palletizing robot was analyzed through its constructure,and constructed its kinematics model and expressed the function of the model.On this basis,used the cubic spline function to carry out reasonable trajectory planning according to the working conditions of the robot,and established the time and jitter as the most optimization model of optimal target.And then used particle swarm optimization to optimize the target model.Through further experimental verification,the results show that the trajectory planning method proposed in this paper can improve the efficiency of the palletizing robot while ensuring stability.
作者
赖啸
LAI Xiao(The Department of Modern Manufacturing,Yibin Vocational and Technical College,Yibin,Sichuan 644003,China)
出处
《食品与机械》
北大核心
2020年第12期74-78,共5页
Food and Machinery
基金
四川省教育厅科研项目(编号:17ZB0501,17ZB0500)。
关键词
码垛机器人
轨迹规划
抖动
运行时间
粒子群算法
palletizing robot
trajectory planning
jitter
running time
particle swarm optimization
