基于关节空间评估的机器人作业单元布局优化  

Robot Workcell Layout Optimization Based on Joint Space Evaluation

作　　者：王召莉[1] 陈卫东[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《上海交通大学学报》2009年第11期1762-1766,共5页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)项目(2006AA040203);国家自然科学基金项目(60775062);教育部新世纪优秀人才计划(NCET-07-0538)

摘　　要：针对工业机器人作业单元布局优化问题,研究了机器人关节空间和操作空间的特性.将机器人的关节轨迹距离作为评估指标,使得机器人的周期时间和功耗的描述更为准确;采用简单、高效的自适应差分进化算法,提高了计算效率.对典型机器人作业单元的布局优化实例进行研究,结果表明了算法的有效性和关节空间评估指标的先进性.This paper investigated the characteristics of joint space and operational space of the robot for the machine layout optimization problem in robot workcell. The sum of trajectory distance of each joint as an evaluation function is a more accurate approximation of the robot cycle time and power consumption. Adaptive-differential evaluation as a simple and efficient algorithm was introduced to improve the computa- tional efficiency. A typical industrial case was used to verify the validity and practicability of the proposed algorithm. The simulation result shows the effectiveness of the proposed method and the advantage of the joint space evaluation.

关 键 词：机器人 作业单元 布局优化 自适应差分进化算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]