基于多元约束的机器人混箱码垛规划问题研究  

Research on the Robotic Mixed-boxes Palletizing Problem with Multi-constraints

作　　者：高建华[1] 武传宇[1] 胡旭东[1] 

机构地区：[1]浙江理工大学机电工程研究所,杭州310033

出　　处：《中国机械工程》2004年第20期1827-1829,1834,共4页China Mechanical Engineering

基　　金：国家 8 63高技术研究发展计划资助项目 ( 863 -5 12 980 10 6)

摘　　要：分析了现代物流自动化领域内机器人混箱码垛工程实践中存在的几何约束、边界约束和比例约束 ,提出了多元约束条件下机器人混箱码垛规划问题的新概念 ,建立了该问题的混合整数规划模型 ,通过算例验证了模型的有效性 。The constraints which exist in the robotic material handling system of modern logistic automation including geometric constraint, boundary constraints and proportional constraints, were analyzed. Based upon them, a new concept called robotic mixed-boxes palletizing problem with multi-constraints was proposed. A mixed integer programming model of this problem is established, and a case is used to check the validity of the model. Thus the useful theoretic basis for the robotic mixed-boxes palletizing application is provided.

关 键 词：多元约束 混箱码垛 混合整数规划 机器人 

分 类 号：TP301[自动化与计算机技术—计算机系统结构] TP249[自动化与计算机技术—计算机科学与技术]