[1]袁锦涛a,b,刘 军a,等.基于粒子群算法的工业机器人多目标最优轨迹规划[J].工业仪表与自动化装置,2021,(05):73-79+93.[doi:10.19950/j.cnki.cn61-1121/th.2021.05.016]
　YUAN Jintaoa,b,LIU Juna,et al.Multi objective optimal trajectory planning of industrial robot based on particle swarm optimization[J].Industrial Instrumentation & Automation,2021,(05):73-79+93.[doi:10.19950/j.cnki.cn61-1121/th.2021.05.016]
点击复制

基于粒子群算法的工业机器人多目标最优轨迹规划

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2021年05期
页码:
73-79+93
栏目:
出版日期:
2021-10-15

文章信息/Info

Title:
Multi objective optimal trajectory planning of industrial robot based on particle swarm optimization
作者:
袁锦涛a; b; 刘 军a; b; 邹树梁a; b
南华大学 a.机械工程学院；b.核设施应急安全技术与装备湖南省重点实验室，湖南 衡阳 421001
Author(s):
YUAN Jintaoa; b;  LIU Juna; b; ZOU Shulianga; b
(a.School of Mechanical Engineering；b.Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities，University of South China，Hunan Hengyang 421001，China）
关键词:
工业机器人; 轨迹规划; 粒子群算法; 多目标最优; 多项式插值
Keywords:
Industrial robot;  trajectory planning;  particle swarm optimization;  multi objective optimization;  polynomial interpolation
分类号:
TP242
DOI:
10.19950/j.cnki.cn61-1121/th.2021.05.016
文献标志码:
A
摘要:
轨迹规划是机器人运动控制的基础，考虑以时间、能耗和脉动三方面为多目标最优，对工业机器人AUBO-i10的轨迹规划问题进行研究。基于D-H法建立机器人正运动学方程，并仿真验证正运动学方程的正确性，同时利用蒙特卡洛法对机器人工作空间仿真分析。针对运行时间、能量消耗和轨迹脉动多目标综合最优问题，根据五次多项式插值方法，在保证运动学约束下，提出多目标粒子群算法（particle swarm optimization，PSO）对机械臂轨迹规划进行优化，并进行仿真分析。仿真结果表明，提出的五次多项式插值方法在准确地构造平滑轨迹的同时，又能通过粒子群算法完成运动学约束下的多目标优化，得到理想的Pareto分布。最后，构造目标函数，获得符合要求的优化轨迹，解决了运行时间过长，能量消耗过多和脉动冲击过大的问题，从而保证机器人高效运动。
Abstract:
Trajectory planning is the basis of robot motion control. In this paper, the trajectory planning of AUBO-i10 is studied in this paper, which is based on the multi-objective optimization of time, energy consumption and pulsation. The forward kinematics equation of robot is established based on D-H method, and the correctness of the positive kinematics equation is verified by simulation. At the same time, the workspace simulation analysis of robot is made by Monte Carlo method. According to the five order polynomial interpolation method, the particle swarm optimization (PSO) is proposed to optimize the trajectory planning of the manipulator, and the simulation analysis is carried out. The simulation results show that the proposed method can construct smooth trajectory accurately, and can optimize the multi-objective under kinematic constraints by particle swarm optimization algorithm, and get the ideal Pareto distribution. Finally, the objective function is constructed to obtain the optimal trajectory which meets the requirements, and solves the problems of too long operation time, too much energy consumption and excessive pulsation impact, so as to ensure the robot movement efficiently.

参考文献/References:

[1] 施祥玲,方红根.工业机器人时间-能量-脉动最优轨迹规划[J].机械设计与制造,2018(06):254-257.

[2]李丽,房立金,王国勋.基于多目标粒子群优化算法的6R工业机器人轨迹优化[J].机械传动，2018，42（8）：17-22+90.
[3]胡嘉阳,韦巍.基于五次NURBS曲线的六轴机器人多目标轨迹优化[J].电子测量与仪器学报,2020,34(06):198-203.
[4]XU Z H，SHENG L I，CHEN Q W，et al.MOPSO based multi-objective trajectory planning for robot manipulators[C]//Proceedings of the 2015 2nd International Conference on Information Science and Control Engineering，24-26 April，2015，Shanghai，China.New York：IEEE，2015：31-35.
[5]于雷,于博.异类粒子群算法的机械臂轨迹多目标规划[J].组合机床与自动化加工技术,2020(05):31-35.
[6]杨凯,黄晋英.一种8自由度空间机械臂运动学及工作空间分析[J].机械传动,2021,45(03):147-152.
[7]何建成,李林升,林国湘.基于多目标粒子群算法工业机器人最优轨迹规划[J].制造业自动化,2021,43(02):57-62.
[8]SARAMAGO S F P,JUNIOR V S.Optimal trajectory planning of robot manipulators in the presence of moving obstacles[J].Mechanism and Machine Theory，2000，35（8）：1079-1094.
[9]江鸿怀,金晓怡,邢亚飞,等.基于粒子群优化算法的五自由度机械臂轨迹规划[J].机械设计与研究,2020,36(01):107-110.
[10]冯斌,刘峰,郑飂默.基于粒子群算法的机器人关节空间最优运动轨迹规划[J].组合机床与自动化加工技术,2018(05):1-4.
[11]刘正雄,黄攀峰,闫杰.基于PSO的空间机械臂轨迹规划技术研究[J].计算机仿真,2010,27(11):172-175.

相似文献/References:

[1]熊磊翔,诸 洪,余海勇,等.基于视觉的机器人抓取技术的研究[J].工业仪表与自动化装置,2017,(05):41.
　XIONG Leixiang,ZHU Hong,YU Haiyong,et al.Research on industrial robots scraping technologies based on vision[J].Industrial Instrumentation & Automation,2017,(05):41.
[2]陶唐飞a,b,贺 华a,等.基于数字图像处理的活塞位姿检测技术研究[J].工业仪表与自动化装置,2018,(05):3.[doi:1000-0682（2018）05-0000-00]
　TAO Tangfeia,b,HE Huaa,et al.Study on the detection technology of piston position and orientation based on digital image processing[J].Industrial Instrumentation & Automation,2018,(05):3.[doi:1000-0682（2018）05-0000-00]
[3]陈 杰,王宏彦.基于视觉的汽车轮毂打磨实训系统设计[J].工业仪表与自动化装置,2021,(01):36.[doi:10.3969/j.issn.1000-0682.2021.01.008]
　CHEN Jie,WANG Hongyan.Design of practical training system of wheel hub grinding based on vision[J].Industrial Instrumentation & Automation,2021,(05):36.[doi:10.3969/j.issn.1000-0682.2021.01.008]
[4]刘 荫,韩圣亚,徐 浩,等.信通机房巡检机器人系统设计[J].工业仪表与自动化装置,2021,(03):61.[doi:10.19950/j.cnki.cn61-1121/th.2021.03.012]
　LIU Yin,HAN Shengya,XU Hao,et al.Design of nspection robot system in information communication room[J].Industrial Instrumentation & Automation,2021,(05):61.[doi:10.19950/j.cnki.cn61-1121/th.2021.03.012]
[5]张华文,刘子亮.基于时间最优的工业机器人关节空间轨迹规划[J].工业仪表与自动化装置,2022,(02):46.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.010]
　ZHANG Huawen,LIU Ziliang.Joint space trajectory planning of industrial robot based on time optimization[J].Industrial Instrumentation & Automation,2022,(05):46.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.010]
[6]唐兴贵,和文云,马志艳,等.基于S7-1200PLC和时域分析的工业机器人移动轨迹最优化规划方法[J].工业仪表与自动化装置,2022,(02):51.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.011]
　TANG Xinggui,HE Wenyun,MA Zhiyan,et al.Optimal trajectory planning method of industrial robot based on s7-1200plc and time domain analysis[J].Industrial Instrumentation & Automation,2022,(05):51.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.011]
[7]李 丹,南向曈*,兰强强,等.物料智能分拣控制系统的设计[J].工业仪表与自动化装置,2022,(05):22.[doi:10.19950/j.cnki.cn61-1121/th.2022.05.004]
　LI Dan,NAN Xiangtong*,LAN Qiangqiang,et al.Design of intelligent material sorting control system[J].Industrial Instrumentation & Automation,2022,(05):22.[doi:10.19950/j.cnki.cn61-1121/th.2022.05.004]
[8]隋胄君.基于PLC的工业机器人抗扰动控制系统设计[J].工业仪表与自动化装置,2022,(06):57.[doi:10.19950/j.cnki.cn61-1121/th.2022.06.011]
　SUI Zhoujun.Design of anti-disturbance control system for industrial robot based on PLC[J].Industrial Instrumentation & Automation,2022,(05):57.[doi:10.19950/j.cnki.cn61-1121/th.2022.06.011]
[9]刘卜文,徐世许,张江辰.基于四轴机器人的冲压上下料控制系统设计[J].工业仪表与自动化装置,2023,(01):46.[doi:10.19950/j.cnki.cn61-1121/th.2023.01.009]
　LIU Buwen,XU Shixu,ZHANG Jiangchen.Design of stamping and loading control system based on four-axis robot[J].Industrial Instrumentation & Automation,2023,(05):46.[doi:10.19950/j.cnki.cn61-1121/th.2023.01.009]
[10]刘天宋,张 俊,张任天,等.基于视觉的工业机器人码垛控制系统[J].工业仪表与自动化装置,2023,(01):51.[doi:10.19950/j.cnki.cn61-1121/th.2023.01.010]
　LIU Tiansong,ZHANG Jun,ZHANG Rentian,et al.Palletizing control system for industrial robots based on visual inspection[J].Industrial Instrumentation & Automation,2023,(05):51.[doi:10.19950/j.cnki.cn61-1121/th.2023.01.010]

备注/Memo

备注/Memo:
收稿日期：2021-04-22

基金项目：
国家国防基础科研项目（JCKY2019403D003）；湖南省教育厅科学研究项目（20B497）

作者简介：
袁锦涛（1997），男，江苏盐城人，硕士研究生，主要研究方向为机械臂轨迹规划。

通信作者：
邹树梁（1956），男，江西安福人，博士，教授，博士生导师，主要从事核设施退役与核事故应急技术与装备研究。
更新日期/Last Update: 1900-01-01