基于改进粒子群算法的油茶花粉采摘机械臂轨迹规划  

Trajectory Planning of Camellia Oleifera Pollen Picking Manipulators Based on an Improved Particle Swarm Optimization Algorithm

作　　者：李骏 赵青[1] 李立君[1] 吴泽超 郭鑫 范子彦 龚宏彬 Li Jun;Zhao Qing;Li Lijun;Wu Zechao;Guo Xin;Fan Ziyan;Gong Hongbin(School of Mechanical and Electrical Engineering,Central South University of Forestry and Technology,Changsha 410004,China)

机构地区：[1]中南林业科技大学机电工程学院,湖南长沙410004

出　　处：《机械传动》2023年第2期86-92,共7页Journal of Mechanical Transmission

基　　金：湖南省教育厅科学研究项目(19B596);湖南省农业农村厅项目(2020-45)。

摘　　要：针对人工收集油茶花粉存在劳动强度大、效率低等问题,基于油茶花的生长特性,设计了一种油茶花粉采摘机器人。以油茶花粉采摘机械臂为研究对象,采用D-H方法对其进行建模和正、逆运动学分析;在Matlab软件环境下,采用蒙特卡罗方法求解末端手爪的工作空间,得到机械臂末端工作空间的点云图像。仿真数据表明,所设计的机械臂能够很好地满足油茶花粉采摘要求。由于传统机器人轨迹规划存在效率低、运行不稳定等问题,提出了一种改进粒子群(IPSO)算法对油茶花粉采摘机械臂的轨迹进行优化。该方法以时间为适应度函数,有效地将5-5-5多项式插值函数与IPSO算法相结合。通过对比传统遗传算法(SGA)与传统粒子群算法(SPSO),表明IPSO算法能更好地适用于油茶花粉采摘机械臂的时间最优轨迹规划。Aiming at the problems of high labor intensity and low efficiency in manually collecting camellia pollen, a camellia pollen picking robot is designed based on the growth characteristics of camellia flower.Taking the camellia oleifera pollen picking manipulator as the research object, the D-H method is used to model and analyze its forward and inverse kinematics. In the Matlab software environment, the Monte Carlo method is used to solve the workspace of the end claw, and the point cloud image of the manipulator end workspace is obtained. The simulation data shows that the designed manipulator can well meet the requirements of camellia oleifera pollen picking. Due to the low efficiency and unstable operation of traditional robot trajectory planning,an improved particle swarm optimization(IPSO) algorithm is proposed to optimize the trajectory of camellia pollen picking manipulator. This method takes time as the fitness function and effectively combines 5-5-5 polynomial interpolation function with IPSO algorithm. The comparison between traditional genetic algorithm(SGA)and traditional particle swarm optimization(SPSO) shows that the IPSO algorithm can be better applied to the time optimal trajectory planning of camellia oleifera pollen picking manipulators.

关 键 词：油茶花粉采摘机器人 D-H法 粒子群算法 5-5-5多项式 轨迹规划 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP241[自动化与计算机技术—控制科学与工程] S225.93[农业科学—农业机械化工程]