基于改进贪心算法的工业机器人分拣装配协同控制系统设计  

Design of Industrial Robot Sorting and Assembly Collaborative Control System Based on Improved Greedy Algorithm

作　　者：谢雨 邱伊健 XIE Yu;QIU Yijian(College of Equipment Manufacturing,Guangxi Vocational&Technical Institute of Industry,Nanning 530001,China;Nanchang University,Nanchang 330096,China;Institute of Applied Physics,Jiangxi Academy of Sciences,Nanchang 330096,China)

机构地区：[1]广西工业职业技术学院装备智造学院,南宁530001 [2]南昌大学机电工程学院,南昌330096 [3]江西省科学院应用物理研究所,南昌330096

出　　处：《计算机测量与控制》2025年第3期105-112,137,共9页Computer Measurement &Control

基　　金：2022年度广西高校中青年教师科研基础能力提升项目(2022KY1292);江西省科学院包干制基金项目(2023YSBG21016)。

摘　　要：制造业自动化水平的不断提升,使得工业机器人应用频率随之上升;工业机器人分拣装配目标众多,再加之操作环境较为复杂,导致工业机器人控制难度大幅增加,故设计基于改进贪心算法的工业机器人分拣装配协同控制系统;系统硬件单元主要为工业相机设计单元、工业计算机设计单元、霍尔传感器设计单元与协同控制器设计单元组成;软件模块分为数据通信开发模块、目标工件的识别与定位模块、工业机器人分拣最优路径选择模块与工业机器人装配操作轨迹规划模块4个部分;在工业机器人分拣最优路径选择模块与工业机器人装配操作轨迹规划模块中,应用改进贪心算法,通过硬件与软件的共同协作实现了工业机器人分拣装配的协同控制;实验结果显示:应用设计系统获得的工业机器人分拣速率为50个/min,分拣出错率最小值为0.1%,装配操作轨迹控制结果与最优装配操作轨迹保持一致,证实了设计系统分拣装配控制性能较佳。The automated level in manufacturing industry is continuously promoting,which makes industrial robots increasingly applicable.Industrial robots has the features of multiple sorting and assembly targets and complex operating environments,which makes it difficult to control industrial robots.Therefore,a collaborative control system for industrial robot sorting and assembly based on improved greedy algorithm is designed.The system hardware mainly consists of an industrial camera unit,an industrial computer unit,a Hall sensor unit,and a collaborative controller unit.The software module is divided into four parts:data communication development module,target recognition and positioning module,industrial robot sorting optimal path selection module,and industrial robot assembly operation trajectory planning module In the latter two modules,an improved greedy algorithm is used to achieve the collaborative control of industrial robot sorting and assembly through the collaboration of hardware and software.Experimental results show by applied this system,the sorting rate for industrial robots is 50 pieces/min,with a minimum sorting error rate of 0.1%.The assembly operation trajectory is consistent with the optimal assembly operation trajectory,confirming that the designed system has excellent sorting assembly performance.

关 键 词：分拣控制 工业机器人 装配控制 改进贪心算法 协同控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]