Delta robot locus programming method based on gravitation searching particle swarm algorithm

A particle swarm algorithm and gravitational search technology, applied in the field of Delta robot trajectory planning based on gravitational search particle swarm algorithm, can solve real-time bottlenecks, constraints, optimization algorithm complexity and calculation speed and other problems

Active Publication Date: 2016-04-20
WUXI XINJIE ELECTRICAL
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Problems solved by technology

Due to the complexity of the above-mentioned optimization algorithm and the constraints of the hardware computing speed at this stage, real-time performance has become the bottleneck for the application of this algorithm to industrial robots.

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  • Delta robot locus programming method based on gravitation searching particle swarm algorithm
  • Delta robot locus programming method based on gravitation searching particle swarm algorithm
  • Delta robot locus programming method based on gravitation searching particle swarm algorithm

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0024] The basic purpose of the present invention is to use the Delta robot as a platform to plan the trajectory of the action of grabbing objects at different positions on the main conveyor belt, and to find the optimal trajectory of time under the condition of meeting the rated limit value of the robot's servo motor. The entire algorithm process is mainly divided into target positioning, offline optimization of the optimal time node sequence, and online query of the optimal time node sequence, such as figure 1 , figure 2 shown.

[0025] Further, the specific implementation steps are:

[0026] A. Divide the working area of ​​the main conveyor belt of the Delta robot into M×N squares by means of grid division. Each squ...

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Abstract

The invention provides a Delta robot locus programming method based on a gravitation searching particle swarm algorithm, comprising: employing a grid division mode to segment a Delta robot main conveyor belt operation area into M*N grids and determining a standard point coordinate; constructing a Cartesian space door-shaped grabbing locus, and deriving the kinematic inverse solution of each driving shaft angle and a rear end performer position; employing a gravitation searching particle swarm algorithm, using time optimum as a fitness function, and under the condition of meeting continuous and smooth joint speed, acceleration and pulsation and not exceeding a servo motor rated restriction value, constructing seven non-uniform rational B-spline functions, and obtaining an off line interpolation joint space angle-time node sequence; and after the Delta robot identifying a target point coordinate, calculating a joint space angle discrete sequence, querying data off-line stored in a three-dimensional array, obtaining a time node sequence, programming a motion locus and completing specified motion.

Description

technical field [0001] The invention relates to the field of trajectory planning of a Delta robot, in particular to a trajectory planning method for a Delta robot based on a gravitational search particle swarm algorithm. Background technique [0002] In the industrial field, only the starting point and end point of the robot movement are given, and the robot can complete the corresponding action. In order to ensure the flexibility of the movement between the start and end points of the robot, reduce the wear of the mechanical structure, and move quickly under the premise of meeting the specifications of the servo motor, it is necessary to plan the trajectory of the movement process of each joint of the robot. [0003] At present, trajectory planning schemes can be divided into energy-optimized, time-optimized, and minimum-pulsation types according to different optimization objectives. Among them, the trajectory planning with optimal time and minimum pulsation can meet the n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李新王永佳吉峰白瑞林
Owner WUXI XINJIE ELECTRICAL
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