李远,农秉茂.包装搬运机器人运动轨迹优化设计[J].包装工程,2020,41(1):123-127.
LI Yuan,NONG Bing-mao.Optimization Design of Moving Trajectory for Packaging Handling Robot[J].Packaging Engineering,2020,41(1):123-127. |
| 包装搬运机器人运动轨迹优化设计 |
| Optimization Design of Moving Trajectory for Packaging Handling Robot |
| 投稿时间：2019-03-05 修订日期：2020-01-10 |
| DOI：10.19554/j.cnki.1001-3563.2020.01.019 |
| 中文关键词: 包装搬运机器人 S曲线 遗传算法 轨迹规划 |
| 英文关键词: packaging handling robot s-curve genetic algorithm trajectory planning |
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| 中文摘要: |
| 目的 为提高包装搬运机器人的运动精度，提出基于改进S型曲线的包装机器人轨迹曲线的规划方法。方法 首先分析包装搬运机器人的工艺要求，以码垛机器人为研究对象，重点讨论轨迹规划问题，采用改进S型曲线实现了码垛机器人轨迹规划。为进一步提高机器人运行效率，基于遗传算法对整个运动过程所需时间进行优化并给出了具体优化过程。最后，搭建实验平台并进行相关实验研究。结果 实验结果表明，基于所述轨迹规划方法，码垛机器人的重复定位精度可以达到0.5 mm，运动过程无速度和加速度突变，机器人运行平稳。结论 该控制系统有效提高了包装机器人的运行效率，对于机器人稳定可靠运行具有重要意义。 |
| 英文摘要: |
| The paper aims to propose a planning method of packaging robot trajectory curve based on improved s-curve to improve the motion precision of packaging handling robot. Firstly, the technological requirements of packaging handling robot were analyzed. Taking the palletizing robot as the research object, the trajectory planning of the palletizing robot was mainly discussed. To further improve the operation efficiency of the robot, the time required for the whole motion process was optimized based on the genetic algorithm. Finally, the experimental platform was built to conduct relevant experimental research. The experimental results showed that, based on the trajectory planning method, the repetitive positioning accuracy of the stacking robot could reach 0.5 mm; and the movement process had no abrupt changes in speed and acceleration; and the robot ran smoothly. The control system effectively improves the operation efficiency of the packaging robot, which is of great significance for stable and reliable operation of the robot. |
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