Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (15): 245-250.DOI: 10.3778/j.issn.1002-8331.2005-0026

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Optimization Trajectory Planning of Industrial Robot with Energy Consumption

JIA Wenyou, JIANG Lei, CAO Ziyang, LIANG Lidong   

  1. 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



  1. 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


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



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