基于改进鲸鱼优化算法的搬运机器人轨迹优化  

The trajectory planning of handling robot based on enhanced WOA

作　　者：阮从好 苏伟 RUAN Conghao;SU Wei(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin 132000,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132000

出　　处：《包装与食品机械》2025年第1期1-7,共7页Packaging and Food Machinery

基　　金：国家自然科学基金项目(61973046);吉林省科技发展计划项目(20200403036SF)。

摘　　要：为进一步增强食品搬运机器人在高速运行时路径中间点处的稳定性,同时提升其整体运行效率,设计一种基于改进鲸鱼优化算法的混合多项式轨迹规划方案,提出4-5-4混合多项式轨迹规划算法。引入非线性收敛因子和自适应权重策略,对基本鲸鱼优化算法进行改进,利用改进的鲸鱼优化算法对4-5-4混合多项式轨迹进行时间优化。结果表明,与传统的3-5-3和4-3-4轨迹规划算法相比,所提算法在中间路径点处加速度峰值分别降低44%和4.3%,收敛效率提升约70%;且轨迹插值整体时间减小近40%。研究为提高食品搬运机器人的工作稳定性和运行效率提供参考。To further enhance the stability of food-handling robots at intermediate path points during high-speed operation and improve overall operational efficiency,a hybrid polynomial trajectory planning scheme based on an improved whale optimization algorithm(WOA)was designed,proposing a 4-5-4 hybrid polynomial trajectory planning algorithm.Nonlinear convergence factors and adaptive weight strategies were introduced to refine the basic WOA,and the improved WOA was utilized to optimize the time parameters of the 4-5-4 hybrid polynomial trajectory.Results demonstrated that compared to traditional 3-5-3 and 4-3-4 trajectory planning algorithms,the proposed algorithm reduced peak acceleration at intermediate path points by 44%and 4.3%respectively,improved convergence efficiency by approximately 70%,and decreased total trajectory interpolation time by nearly 40%.This study provides a reference for enhancing the stability and operational efficiency of food-handling robots.

关 键 词：食品搬运机器人 混合多项式 轨迹规划 改进鲸鱼算法 时间优化 

分 类 号：TS203[轻工技术与工程—食品科学] TP242[轻工技术与工程—食品科学与工程]