基于改进遗传算法的拣货机器人手臂运动误差自动校正方法

Automatic Correction Method for Arm Motion Error of Picking Robot Based on Improved Genetic Algorithm

针对传统机器人手臂运动误差校正方法中存在自适应较差、导致校正误差较高的问题,提出基于改进遗传算法的机器人手臂运动误差自动校正方法.根据自主作业型拣货机器人的运动控制流程,获取机器人手臂运动姿态参数,借助自主作业型拣货机器人手臂运动误差反馈调节,构建拣货机器人手臂运动学模型;在此基础上,设置自主作业型拣货机器人运动状态函数,得到机器人手臂运动误差融合结果,并对其中参数进行有效辨识;采用改进遗传算法和姿态参数融合方法,实现对自主作业型拣货机器人的结构参数辨识,从而实现对拣货机器人手臂运动误差自动校正.试验结果表明:采用所提方法对拣货机器人运动误差校正精度较高,且误差较低.

In view of the problem that the traditional method of robot arm motion error correction is poor adaptive,which leads to the high correction error,an automatic correction method of robot arm motion error based on improved genetic algorithm is proposed.According to the motion control flow of the autonomous picking robot,the motion attitude parameters of the robot arm are obtained.The kinematics model of the robot arm is constructed by means of the feedback adjustment of the arm motion error of the autonomous operation picking robot;On this basis,the motion state function of the autonomous picking robot is set up,and the motion error fusion results of the robot arm are obtained,and the parameters are identified effectively;The improved genetic algorithm and attitude parameter fusion method are used to identify the structural parameters of the autonomous operation picking robot,and then the arm motion error of the picking robot can be automatically corrected.The experimental results show that the proposed method has high accuracy and low error in the motion error correction of the picking robot.