基于多目标优化的油茶果分选机器人轨迹规划方法研究  

Research on trajectory planning method for Camellia oleifera fruit sorting robot based on multi-objective optimization

作　　者：傅明娣 李忠[2] 王倩茹 赵飞 FU Mingdi;LI Zhong;WANG Qianru;ZHAO Fei(JiangsuJinhu Secondary Professional School,Huai'an,Jiangsu 223001,China;Liu Guojun Branch,Jiangsu United Vocational and Technical College,Changzhou,Jiangsu 213000,China;Changzhou University,Changzhou,Jiangsu 213164,China;Jiangsu University of Science and Technology,Zhenjiang,Jiangsu 212100,China)

机构地区：[1]江苏省金湖中等专业学校,江苏淮安223001 [2]江苏联合职业技术学院常州刘国钧分院,江苏常州213000 [3]常州大学,江苏常州213164 [4]江苏科技大学,江苏镇江212100

出　　处：《食品与机械》2023年第10期105-111,共7页Food and Machinery

基　　金：江苏省自然科学基金项目(编号:22JS135107);江苏省教育教学改革研究课题(编号:ZYB530)。

摘　　要：目的:解决并联机器人食品分选过程中的运动平稳性差和精度等问题。方法:在分析三自由度食品分选机器人系统的基础上,提出将多项式插值法与改进的多目标粒子群算法相结合用于Delta机器人轨迹优化。以并联机器人运行时间最短、能耗最低、运动冲击最小为优化多目标,通过改进的多目标粒子群算法优化多项式插值法,并对其性能进行验证。结果:试验所提规划方法的规划轨迹相比于常规方法更平滑、更高效。在实际的油茶果分选中,准确率>99.00%,平均一次筛选时间为0.620 s。结论:试验所提轨迹规划优化方法提高了油茶果分选机器人的分选效率、准确性和稳定性。Objective:Solved the problems of poor motion stability and accuracy in the food sorting process of parallel robots.Methods:Based on the analysis of the three degree of freedom food sorting robot system,a method proposed which combined polynomial interpolation and improve multi-objective particle swarm optimization algorithm for Delta robot trajectory optimization.As a parallel robot,the optimization of the shortest operation time,lowest energy consumption,and minimal motion impact were taken as multiple objectives.The improved multi-objective particle swarm optimization algorithm was applied to optimize the polynomial interpolation method,and its performance was validated.Results:The planning trajectory of the proposed planning method in the experiment was smoother and more efficient compared to conventional methods.In the actual selection of Camellia oleifera fruits,the accuracy was>99.00%,and the average screening time was 0.620 s.Conclusion:The trajectory planning optimization method proposed in the experiment has improved the sorting efficiency,accuracy,and stability of the Camellia oleifera fruit sorting robot.

关 键 词：并联机器人 食品分选 轨迹规划 多项式插补法 多目标粒子群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S226.5[自动化与计算机技术—控制科学与工程]