基于阿基米德算法的喷涂机器人路径优化
Path Optimization of Spraying Robot Based on Archimedes Optimization Algorithm
王景熙 1李轶 1张成1
作者信息
- 1. 国网上海市电力公司青浦供电公司,上海 200000
- 折叠
摘要
为了提高喷涂机器人工作效率,缩短喷涂路径,本文提出了一种基于阿基米德算法的喷涂机器人路径优化方法.将喷涂起始点、喷涂方向和喷涂顺序作为决策变量,把喷涂区域划分为多个片区,建立了考虑碰撞约束的喷涂机器人路径优化模型,利用阿基米德优化算法(Archimedes Optimization Algorithm,AOA)对模型进行求解,采用某典型工件进行路径规划实验,并与其他算法的优化结果进行对比,结果表明,AOA算法的优化结果均能满足碰撞约束,收敛时的迭代次数更少,收敛精度更高,验证了本文所提喷涂机器人路径优化方法的正确性和实用性.
Abstract
In order to improve the working efficiency of the spraying robot and shorten the spraying path,this paper proposes a path optimization method of the spraying robot based on Archimedes algorithm.Taking the starting point of spraying,spraying direc-tion and spraying sequence as decision variables,the spraying area is divided into multiple areas,and a path optimization model of the spraying robot considering collision constraints is established.The model is solved using the Archimedes optimization algorithm.A typical workpiece is used for path planning experiments,and the results are compared with the optimization results of other algorithms.The results show that the optimization results of the AOA algorithm can meet the collision constraints,The fewer iterations during con-vergence and higher convergence accuracy verify the correctness and practicality of the path optimization method for spray painting ro-bots proposed in this paper.
关键词
喷涂机器人/喷涂路径/优化/碰撞约束/阿基米德优化算法Key words
spraying robot/spray path/optimization/collision constraints/archimedes optimization algorithm引用本文复制引用
基金项目
国网上海市电力公司科技部科技计划项目(520934230001)
出版年
2024
NETL
NSTL
万方数据