能耗约束优化工业机器人作业轨迹  

Optimization Trajectory Planning of Industrial Robot with Energy Consumption

作　　者：贾文友[1] 江磊[1] 曹紫阳 梁利东[1] JIA Wenyou;JIANG Lei;CAO Ziyang;LIANG Lidong(Anhui New R&D Institutions of Human-Machine Interaction and Collaboration,School of Mechanical Engineering,Anhui Polytechnic University,Wuhu,Anhui 241000,China)

机构地区：[1]安徽工程大学机械工程学院人机自然交互和高效协同技术研究中心,安徽芜湖241000

出　　处：《计算机工程与应用》2021年第15期245-250,共6页Computer Engineering and Applications

基　　金：安徽高校省级科学研究项目(KJ2016A057,KJ2018A0102)。

摘　　要：工业机器人作业过程中普遍需要较高的能耗。基于量子行为和差分进化的改进蜻蜓算法,实现能耗约束下优化工业机器人避障作业轨迹。基于工业机器人五次B样条曲线矩阵式和动力学模型,构建能耗约束模型;进行仿真实验,利用改进蜻蜓算法求解能耗约束模型为适应度评价函数的工业机器人轨迹,对比改进蜻蜓算法与原始蜻蜓算法和基于指数函数步长的精英反向蜻蜓算法的优化结果,表明改进蜻蜓算法具有更优的性能。Industrial robots generally need high energy consumption in the process of operation.The improved dragonfly algorithm that based on quantum behavior and differential evolution can optimize the obstacle avoidance trajectory of industrial robots under the constraints of energy consumption.Based on the quintic B-spline curve matrix and the dynamic model of industrial robot,the energy consumption constraint model is established.In the simulation experiment,taking the energy consumption constraint model of industrial robot trajectory solved by the improved dragonfly algorithm as the fitness evaluation function,comparing the optimization results of the improved dragonfly algorithm with the original dragonfly algorithm and the elite opposition learning and exponential function steps-based dragonfly algorithm,the results show that the improved dragonfly algorithm has better performance.

关 键 词：工业机器人 改进蜻蜓算法 避障作业轨迹 能耗约束模型 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]