能耗约束优化工业机器人作业轨迹

doi:10.3778/j.issn.1002-8331.2005-0026

计算机工程与应用 ›› 2021, Vol. 57 ›› Issue (15): 245-250.DOI: 10.3778/j.issn.1002-8331.2005-0026

能耗约束优化工业机器人作业轨迹

贾文友，江磊，曹紫阳，梁利东

安徽工程大学机械工程学院人机自然交互和高效协同技术研究中心，安徽芜湖 241000

出版日期:2021-08-01 发布日期:2021-07-26

Optimization Trajectory Planning of Industrial Robot with Energy Consumption

JIA Wenyou, JIANG Lei, CAO Ziyang, LIANG Lidong

Anhui New R&D Institutions of Human-Machine Interaction and Collaboration, School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000, China

Online:2021-08-01 Published:2021-07-26

摘要/Abstract

摘要：

工业机器人作业过程中普遍需要较高的能耗。基于量子行为和差分进化的改进蜻蜓算法，实现能耗约束下优化工业机器人避障作业轨迹。基于工业机器人五次B样条曲线矩阵式和动力学模型，构建能耗约束模型；进行仿真实验，利用改进蜻蜓算法求解能耗约束模型为适应度评价函数的工业机器人轨迹，对比改进蜻蜓算法与原始蜻蜓算法和基于指数函数步长的精英反向蜻蜓算法的优化结果，表明改进蜻蜓算法具有更优的性能。

关键词: 工业机器人, 改进蜻蜓算法, 避障作业轨迹, 能耗约束模型

Abstract:

Industrial robots generally need high energy consumption in the process of operation. The improved dragonfly algorithm that based on quantum behavior and differential evolution can optimize the obstacle avoidance trajectory of industrial robots under the constraints of energy consumption. Based on the quintic B-spline curve matrix and the dynamic model of industrial robot, the energy consumption constraint model is established. In the simulation experiment, taking the energy consumption constraint model of industrial robot trajectory solved by the improved dragonfly algorithm as the fitness evaluation function, comparing the optimization results of the improved dragonfly algorithm with the original dragonfly algorithm and the elite opposition learning and exponential function steps-based dragonfly algorithm, the results show that the improved dragonfly algorithm has better performance.

Key words: industrial robot, improved dragonfly algorithm, obstacle avoidance trajectory, energy?consumption constraint model

贾文友，江磊，曹紫阳，梁利东. 能耗约束优化工业机器人作业轨迹[J]. 计算机工程与应用, 2021, 57(15): 245-250.

JIA Wenyou, JIANG Lei, CAO Ziyang, LIANG Lidong. Optimization Trajectory Planning of Industrial Robot with Energy Consumption[J]. Computer Engineering and Applications, 2021, 57(15): 245-250.

[1]	浦玉学，舒鹏飞，蒋祺，陈卫中. 工业机器人时间-能量最优轨迹规划[J]. 计算机工程与应用, 2019, 55(22): 86-90.
[2]	李黎，尚俊云，冯艳丽，淮亚文. 关节型工业机器人轨迹规划研究综述[J]. 计算机工程与应用, 2018, 54(5): 36-50.
[3]	侯庆隆，杨冬，郭士杰. 工业机器人能耗优化方法研究综述[J]. 计算机工程与应用, 2018, 54(22): 1-9.
[4]	康代轲1，陈明2. 基于改进混沌搜索算法的机器人轨迹规划[J]. 计算机工程与应用, 2017, 53(14): 143-147.
[5]	张建生,肖南峰. 机器人远程控制系统的实时仿真与实现[J]. 计算机工程与应用, 2009, 45(14): 245-248.
[6]	宋洪军，周风余，李贻斌，贾磊. 基于CORBA的工业机器人软件框架的研究和应用[J]. 计算机工程与应用, 2007, 43(25): 192-196.

能耗约束优化工业机器人作业轨迹

Optimization Trajectory Planning of Industrial Robot with Energy Consumption

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics