A Swarm Intelligence Algorithm-Based Method for Operating Point Sequence and Trajectory Planning of Industrial Robots

A technology of industrial robots and swarm intelligence, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as difficult trajectories, numerous factors, and complexity

Active Publication Date: 2018-06-26
XIANGTAN UNIV
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Problems solved by technology

Due to the many and complex factors considered in trajectory planning, it is difficult to obtain a more reasonable trajectory manually.

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  • A Swarm Intelligence Algorithm-Based Method for Operating Point Sequence and Trajectory Planning of Industrial Robots
  • A Swarm Intelligence Algorithm-Based Method for Operating Point Sequence and Trajectory Planning of Industrial Robots
  • A Swarm Intelligence Algorithm-Based Method for Operating Point Sequence and Trajectory Planning of Industrial Robots

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specific Embodiment approach

[0060] Since the present invention relates to the swarm intelligence algorithm used in industrial robot operation point sequence and trajectory planning, the following implementation plans will be described by taking the firefly algorithm as an example. Other swarm intelligence algorithms that meet the requirements can be implemented according to this plan, and the main steps are as follows:

[0061] Step 1. Based on the firefly algorithm, apply the algorithm to discrete space: redefine the position of fireflies and the distance between two fireflies, and redefine the movement rules of fireflies.

[0062] Definition 1) The position of fireflies: the position of each firefly corresponds to a sequence of operating points, and the position of the i-th firefly is denoted as X i =[x i,1 ,x i,2 ,...,x i,j ,...,x i,n ] T , indicating that the working process of the robot is according to the operation point P 1 ,P 2 ,...,P n The sequence is carried out, where n is the dimensio...

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Abstract

A method for planning an operation point sequence and a path of an industrial robot based on a swarm intelligence algorithm mainly solves the problem that a method for planning an operation point sequence and a path of an industrial robot in the prior art is low in automation degree and poor in scientific rationality. According to the method of the present invention, a discrete sequence similarity index (SD) is used for representing the difference (distance) between individuals in planning of the sequence; a collision evaluation index (O) is constructed for avoiding collision between the industrial robot and a barrier as well as between joint rods of the robot; for a constraint condition, a penalty function is adopted for performing processing, and a constraint penalty term C is introduced, so that dynamic characteristics of the industrial robot meet margin requirements. The method of the present invention obtains the optimal operation point sequence of the industrial robot and the corresponding optimal path based on the above evaluation indexes and an improved swarm intelligence algorithm, can effectively improve execution efficiency and operation performance of the industrial robot, can reduce cost, and can meet requirements of actual production.

Description

technical field [0001] The present invention relates to the field of dispatching and trajectory planning, and more specifically, relates to an industrial robot operating point sequence and trajectory planning method based on a swarm intelligence algorithm. Background technique [0002] Industrial robots often have to pass through several operating points during work. The industrial robot operates the workpiece from the current operating point and then moves to the next operating point to continue working until the work of all operating points is completed. The robot operating point sequence refers to the sequence in which the industrial robot passes through each operating point and operates the workpiece at the operating point. The selection of the robot's operating point sequence directly affects the time spent in the robot's working process, the trajectory of the robot, and the energy consumed. The robot operating point sequence planning problem is an NP-hard combinatoria...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 李明富李俊渊罗龙健
Owner XIANGTAN UNIV
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