摘要
为了进一步提高工业机器人取货效率,设计了一种改进鲸鱼算法(IWOA)方法,并被成功应用于取货轨迹优化方面。以时间最短为优化目标,用IWOA方法优化关节位置。研究结果表明:将每段轨迹最大时间值作为最终的设定时间,IWOA方法优化后总时间比优化前节省7.31 s。IWOA方法优化后关节位置的曲线很平滑,没有出现突变,最大限度地发挥工业机器人的运动学性能,实现平稳快速的取货运动。该方法对工业机器人移动搬货物实现时间最优控制具有借鉴意义。
In order to further improve the pickup efficiency of industrial robots,an improved whale algorithm(IWOA)was designed and successfully applied to the pickup trajectory optimization.The IWOA method was used to optimize the joint position with the shortest time as the optimization goal.The results show that the maximum time value of each trajectory is taken as the final setting time,and the total time after optimization of IWOA method is 7.31s less than that before optimization.After the optimization of IWOA method,the curve of joint position is smooth and there is no mutation,which maximizes the kinematic performance of the industrial robot and realizes the smooth and fast pick-up movement.This method can be used as a reference for industrial robots to realize the time optimal control of moving goods.
作者
袁苏楠
张园园
刘保军
Yuan Sunan;Zhang Yuanyuan;Liu Baojun(School of Automation Engineering,Henan Polytechnic,Nanyang Henan 473000,China;Nanyang Xiangdong Machinery Industry Co.,Ltd.,Nanyang Henan 473000,China;Costar Group Co.,Ltd.,Nanyang Henan 473000,China)
出处
《现代工业经济和信息化》
2024年第6期181-182,185,共3页
Modern Industrial Economy and Informationization
关键词
工业机器人
取货
轨迹优化
改进鲸鱼算法
Industrial robot
delivery
trajectory optimization
improved whale algorithm
