High-speed picking path optimization method for parallel robots for multiple dynamic targets
A robot and parallel technology, which is applied in the direction of instruments, genetic rules, non-electric variable control, etc., can solve the problems of long installation and debugging cycle and the inability to adjust the target object in real time, so as to shorten the installation and debugging time, save time, and improve work efficiency Effect
Active Publication Date: 2018-10-30
INST OF AUTOMATION CHINESE ACAD OF SCI +1
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[0002] With the development of technology, more and more parallel robots are used in light industries such as medical treatment, electronics, and food in China. Sorting is placed in a designated neatly arranged area. Although parallel robots are used, compared with manual sorting and packing, the efficiency is improved; but the sorting path or packing order of these robots is set by workers according to experience It is relatively fixed and cannot be adjusted in real time according to the randomly distributed target objects on the conveyor belt. Therefore, this path is not the optimal path, and the installation and commissioning cycle is long, indicating that there is still room for great improvement in production efficiency.
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[0038] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.
[0039] 1. Mathematical modeling of working environment
[0040] like figure 2 As shown, the parallel robot work line is set as a two-dimensional plane, and the global coordinate system BASE is established; in this embodiment, the origin is at O, the direction passing through the origin O and perpendicular to the conveyor belt C1 is set as the x-axis, passing through the origin O and parallel to the conveyor belt C1 The parallel direction is set as the y axis, and the positive directions of the x and y axes are as follows figure 2 shown.
[0041] Determine the working area D5 and the target area D3 (i.e. the placement area) on the assembly...
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The invention provides a high-speed pickup path optimizing method of parallel robots facing dynamic objects. The method comprises the following steps that 1) target positions in an accommodation area are numbered randomly, corresponding coordinate information is obtained, target objects whose number is the same with that of the target positions are selected sequentially from a grabbing area, the target objects are numbered randomly, and present coordinates of the target objects are obtained at the same time; 2) the obtained target objects and target positions are ordered in a crossing manner randomly to form a long chromosome of an initial population; and 3) the step 2) is repeated to construct the initial population, a genetic algorithm is used to optimize an operation path of a pickup motion of a robot terminal performer, and a group of chromosomes whose total stroke is shortest is output and serves as an optimized operation path of the pickup motion of the robot terminal performer. According to the invention, the optimal grabbing path can be obtained, and the working efficiency is improved greatly.
Description
technical field [0001] The invention belongs to the technical field of combining production automation and advanced control algorithms, and in particular relates to a high-speed picking path optimization method for a parallel robot facing multiple dynamic targets. Background technique [0002] With the development of technology, more and more parallel robots are used in light industries such as medical treatment, electronics, food, etc. Sorting is placed in a designated neatly arranged area. Although the efficiency of parallel robots is improved compared to manual sorting and packing, the sorting path or packing order of these robots is set by workers based on experience. It is relatively fixed and cannot be adjusted in real time according to the randomly distributed target objects on the conveyor belt. Therefore, this path is not the optimal path, and the installation and commissioning cycle is long, indicating that there is still room for great improvement in production ef...
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IPC IPC(8): G05D1/02G06N3/12
CPCG05D1/0217G06N3/126
Inventor 张好剑王云宽吴少泓郑军胡建华王欣波苏婷婷陆浩袁勇
Owner INST OF AUTOMATION CHINESE ACAD OF SCI