基于遗传算法的直角坐标式排牙机器人路径规划  

The Path Planning of Cartesian Type Robot for Tooth-arrangement Using Genetic Algorithms

作　　者：张永德[1] 姜金刚[1] 唐伟[1] 谷俊涛[1] 

机构地区：[1]哈尔滨理工大学智能机械研究所,黑龙江哈尔滨150080

出　　处：《哈尔滨理工大学学报》2013年第1期22-26,共5页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金(51205093;51075105;50675054);黑龙江省研究生创新科研重点项目(YJSCX2011-004HLJ);黑龙江省科技攻关计划项目(GC03A514);黑龙江省教育厅科学技术研究项目(12521081)

摘　　要：针对多目标抓取的直角坐标排牙机器人的路径规划问题,研究了直角坐标排牙机器人的结构及抓取V型块的过程,按照最短行程的标准提出了优化问题,建立了实体的数学模型1,参考典型的TSP问题型将目标问题转化成类似TSP(traveling salesman problem)问题,并将模型1转化成抽象的数学模型2,并采用遗传算法的相关理论进行了求解,求解出了收敛的最优值,找到了最优的路径,具有充分的可行性.Aiming at the path planning of multi-objective grasping of cartesian type robot for tooth-arrange- ment, the structure of cartesian type robot for tooth-arrangement and the grasping process of V-Type Block is ana- lyzed, the path planning of multi-objective grasping based on the standard of the shortest distance is proposed. Compared with typical TSP problem, the entity mathematical model 1 is set up, and we converse it into an abstrac- tive mathematical model 2. In order to solve the problem with Matlab, the optimal solution is obtained and the opti- mal solution is analyzed using Matlab based on genetic algorithms.

关 键 词：多目标 排牙机器人 路径规划 TSP问题 遗传算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]