基于机器视觉和改进BOA的食品分拣机器人轨迹规划方法研究  

Research on trajectory planning method for food sorting robot based on machine vision and improved BOA

作　　者：崔嵬[1,2,3] 袁瑞 孙立涛 王巍 CUI Wei;YUAN Rui;SUN Litao;WANG Wei(Hebei Institute of Mechanical and Electrical Technology,Xingtai,Hebei 054000,China;Hebei Technical Innovation Center for Intelligent Sensing and Advanced Control of Mechanical and Electrical Equipment,Xingtai,Hebei 054000,China;Xingtai Technical Innovation Center for Intelligent Sensing and Control of Mechanical and Electrical Equipment,Xingtai,Hebei 054000,China;Hebei University of Engineering,Handan,Hebei 056038,China)

机构地区：[1]河北机电职业技术学院,河北邢台054000 [2]河北省机电装备智能感知与先进控制技术创新中心,河北邢台054000 [3]邢台市机电装备智能感知与智能控制技术创新中心,河北邢台054000 [4]河北工程大学,河北邯郸056038

出　　处：《食品与机械》2024年第10期80-85,共6页Food and Machinery

基　　金：河北省高等学校科学技术研究青年基金项目(编号:QN2022098);邢台市科学技术局项目(编号:2022ZC008)。

摘　　要：[目的]降低食品分拣过程中并联机器人的轨迹运行时间、能耗和运行冲击等。[方法]在分析Delta并联机器人食品分拣系统的基础上,提出一种用于Delta并联机器人轨迹优化的改进4-3-3-4插值法。以运行时间、能耗和冲击综合最优为目标构建模型优化4-3-3-4插值多项式关节系数,通过改进蝴蝶优化算法求解得到并联机器人运动轨迹的最优解,并验证其优越性。[结果]与常规方法相比,所提轨迹优化方法具有更好的运行效率和控制效果,规划轨迹更加平滑。在实际分拣中,分拣误差均小于0.5 mm,分拣成功率为99.60%,平均分拣时间为0.620 s。[结论]通过对多项式插值法进行优化可以有效提高并联机器人轨迹规划的效率和稳定性。[Objective]Reduce the trajectory running time,energy consumption,and operational impact of parallel robots during the food sorting process.[Methods]Based on the analysis of the Delta parallel robot food sorting system,an improved 4-3-3-4 interpolation method was proposed for trajectory optimization of the Delta parallel robot.Built a model to optimize the joint coefficients of the 4-3-3-4 interpolation polynomial with the goal of optimizing the running time,energy consumption,and impact.By improving the butterfly optimization algorithm,the optimal solution for the motion trajectory of the parallel robot was obtained and its superiority was verified.[Results]Compared with conventional methods,the proposed trajectory optimization method had better operational efficiency and control effects,with the more smoother of the planned trajectory.In actual sorting,the sorting error was less than 0.5 mm,the sorting success rate was 99.60%,and the average sorting time was 0.620 s.[Conclusion]Optimizing polynomial interpolation can effectively improve the efficiency and stability of trajectory planning for parallel robots.

关 键 词：并联机器人 轨迹规划 蝴蝶优化算法 4-3-3-4插值法 食品分拣 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术] TS203[轻工技术与工程—食品科学]