基于改进浣熊优化算法的食品分拣机器人机械臂时间最优轨迹规划  

Time-optimal trajectory planning for food sorting robot arms based on improved coati optimization algorithm

作　　者：蒋金伟 杨启志[2] 刘进福 张壮壮 JIANG Jinwei;YANG Qizhi;LIU Jinfu;ZHANG Zhuangzhuang(Changzhou Vocational Institute of Industry Technology,Changzhou,Jiangsu 213164,China;Jiangsu University,Zhenjiang,Jiangsu 212013,China;Hohai University,Changzhou,Jiangsu 213022,China)

机构地区：[1]常州工业职业技术学院,江苏常州213164 [2]江苏大学,江苏镇江212013 [3]河海大学,江苏常州213022

出　　处：《食品与机械》2025年第3期81-87,共7页Food and Machinery

基　　金：江苏省自然科学基金(编号:BK20220241);江苏省产学研合作项目(编号:BY20230916)。

摘　　要：[目的]提高食品分拣机器人机械臂空间最优时间轨迹规划效率和稳定性。[方法]提出一种基于改进浣熊优化算法的食品分拣机器人机械臂时间最优轨迹规划方法。建立UR5六自由度机械臂模型,采用3-5-3多项式插值方法构造机械臂运动轨迹。借鉴光学折射物理现象对浣熊优化算法进行改进,利用改进后的浣熊优化算法优化求解机械臂轨迹规划问题,在满足角度、角速度、角加速度约束条件的同时尽可能缩短关节运动时间。[结果]仿真结果表明,与其他3种时间最优轨迹规划方法相比,所提方法轨迹运行时间降低了14.58%,21.20%,4.18%。[结论]所提方法能够缩短机械臂运行时间,有效提高机械臂工作效率。[Objective]To improve the efficiency and stability of spatial optimal time trajectory planning for food sorting robot arms.[Methods]A time-optimal trajectory planning method for food sorting robot arms based on an improved coati optimization algorithm(COA)was proposed.A UR5 six-degree-of-freedom robot arm model was established,and the 3-5-3 polynomial interpolation method was used to construct the motion trajectory of the robot arms.Drawing inspiration from the physical phenomenon of optical refraction,the COA was improved.The improved COA(ICOA)was then applied to optimize and solve the trajectory planning problem of robotic arms while satisfying constraints on angle,angular velocity,and angular acceleration,aiming to minimize joint motion time as much as possible.[Results]Simulation results showed that,compared with three other time-optimal trajectory planning methods,the proposed method reduced trajectory execution time by 14.58%,21.20%,and 4.18%,respectively.[Conclusion]The proposed method effectively shortens the robot arms'operating time and significantly improves their working efficiency.

关 键 词：食品分拣 机械臂 浣熊优化算法 轨迹规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]