基于改进人工蜂鸟算法的取样机器人轨迹规划
Trajectory Planning of Sampling Robot Based on Improved Artificial Hummingbird Algorithm
田国富 1项敏 1林泽利1
作者信息
- 1. 沈阳工业大学机械工程学院,沈阳 110870
- 折叠
摘要
为了实现炼钢过程中取样工艺的自动化作业,设计取样工艺布局,并以选取的工业机器人为研究对象,采用七次多项式插值的方法对取样过程的路径点进行轨迹规划.提出一种基于改进人工蜂鸟的机器人最优轨迹规划方法,优化目标为时间-冲击,以提高取样机器人的运行稳定性.仿真结果表明,取样机器人在取样作业中,运行平稳,所设计的取样工艺布局合理;采用的改进人工蜂鸟算法,对比标准人工蜂鸟算法和标准遗传算法,具有更好的收敛速度和算法精度,大幅提高了运行稳定性和生产效率.
Abstract
In order to realize the automation of sampling process in steelmaking,the sampling process lay-out is designed,and the trajectory planning of sampling path points is carried out by seventh-degree polyno-mial interpolation with the selected industrial robot as the research object.A robot trajectory planning meth-od based on improved artificial hummingbird is proposed,and the optimization objective is time-impact to improve the operational stability of the sampling robot.The simulation results show that the sampling robot runs smoothly in the working process and the sampling process layout is reasonable.Compared with the standard artificial hummingbird algorithm and the standard genetic algorithm,the improved artificial hum-mingbird algorithm has better convergence speed and algorithm accuracy,and the operation stability and production efficiency are greatly improved.
关键词
炼钢取样工艺/取样机器人/轨迹规划/时间-冲击/人工蜂鸟算法Key words
sampling process for steelmaking/sampling robot/trajectory planning/time-impact/artificial hummingbird algorithm引用本文复制引用
基金项目
辽宁省教育厅项目(LFGD2020006)
出版年
2024
NETL
NSTL
万方数据