摘要
考虑玻璃属于易破碎产品,在设计机器人搬运玻璃的轨迹规划时,提出了以执行时间和抖动最优为目标的轨迹规划和优化。将B样条曲线应用到对机器人进行轨迹规划中,建立了以时间和抖动最优为目标的数学模型,利用多亲遗传算法对其进行优化,定量表达了机器人执行搬运作业的单次时间和抖动之间的函数关系,并能根据其设定的参量对两者进行权重分配,使其达到工程使用的匹配。该优化方法在考虑效率的前提下,降低了机器人搬运作业的抖动,也即降低了玻璃的破碎率。该方法对搬运机器人的轨迹规划研究具有一定的意义。
Considering that the glass is a fragile product,so,when designing the trajectory planning of robot handling glass,the planning and optimization target of time and jitter for trajectory was put forward in it.The B-spline curve is applied to the trajectory planning of the robot,and the optimal time and jitter is established for the mathematical model of the target.Utilized multi-parent’s genetic algorithm optimize the mathematical model,quantitative describe robot to perform the handling operation of a single function of the relation between time and jitter,and then according to the set of parameters for both the weight distribution,matching to the needs of engineering applying.The optimization method reduces the jitter of the handling operations robot and the glass broken rate under the premise of considering the efficiency.The method has a certain significance for the research of trajectory planning of handling operates robot.
作者
胡蓉
HU Rong(Yibin Vocational and Technical College,Sichuan Yibin 644003,China)
出处
《机械设计与制造》
北大核心
2018年第9期164-167,共4页
Machinery Design & Manufacture
关键词
B样条
多目标遗传算法
轨迹优化
搬运机器人
B Spline
Multi-Parent Genetic Algorithm
Trajectory Optimization
Robot Carry
