阀口袋套袋机器人轨迹优化方法研究  

Trajectory Optimization Method of Valve Pocket Bagging Robot

作　　者：李雪梅[1] 崔菲菲 郭义华 张鑫[1] 容北国 LI Xue-mei;CUI Fei-fei;GUO Yi-hua;ZHANG Xin;RONG Bei-guo(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guangxi Guilin541004,China;Guilin Hongcheng Mining Equipment Manufacturing Co.,Ltd.,Guangxi Guilin 541199,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004 [2]桂林鸿程矿山设备制造有限责任公司,广西桂林541199

出　　处：《包装工程》2022年第13期180-188,共9页Packaging Engineering

基　　金：广西科技攻关计划(2017AA24007);广西研究生教育创新计划(YCSW2018135)。

摘　　要：目的为了提高阀口袋套袋机器人的工作效率,提出基于改进粒子群算法的阀口袋套袋机器人时间最优轨迹规划方法。方法首先,通过逆运动学方程反解出操作空间轨迹对应的关节空间角度值。其次,采用4-3-4混合多项式对阀口袋套袋机器人的关节空间轨迹进行插值拟合。最后,在速度约束条件下,利用改进粒子群算法对阀口袋套袋机器人的运行时间进行优化处理。结果仿真结果表明,改进粒子群算法可以在保证阀口袋套袋机器人运行平稳的条件下将总运行时间缩减41.66%,实现了阀口袋套袋机器人在关节空间中时间最优的轨迹规划。结论该方法可有效地提高机器人工作效率,延长机器人的使用寿命,为阀口袋套袋机器人稳定可靠运行提供了科学依据。The work aims to propose a time-optimal trajectory planning method for the valve pocket bagging bot based on improved particle swarm optimization algorithm,so as to improve the working efficiency of the robot.First-ly,the joint space angle corresponding to the trajectory of the operating space was solved by the inverse kinematics equa-tion.Then,the joint space trajectory was fitted by 4-3-4 mixed polynomial interpolation method.Finally,the improved particle swarm optimization algorithm was used to optimize the running time of the valve pocket bagging robot under the speed constraints.From the simulation results,the improved particle swarm optimization algorithm could reduce the total running time by 41.66%under the condition of ensuring the smooth running of the valve pocket bagging robot,and realize the time-optimal trajectory planning of the valve pocket bagging robot in joint space.The method can effectively improve the working efficiency of the robot,prolong the service life of the robot,and provide a scientific basis for the stable and reliable operation of the valve pocket bagging robot.

关 键 词：阀口袋套袋机器人 时间最优 轨迹规划 混合多项式 改进粒子群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]