食品与机械2024，Vol.40Issue(10)：80-85,6.DOI:10.13652/j.spjx.1003.5788.2024.60118
基于机器视觉和改进BOA的食品分拣机器人轨迹规划方法研究
Research on trajectory planning method for food sorting robot based on machine vision and improved BOA
摘要
Abstract
[Objective]Reduce the trajectory running time,energy consumption,and operational impact of parallel robots during the food sorting process.[Methods]Based on the analysis of the Delta parallel robot food sorting system,an improved 4-3-3-4 interpolation method was proposed for trajectory optimization of the Delta parallel robot.Built a model to optimize the joint coefficients of the 4-3-3-4 interpolation polynomial with the goal of optimizing the running time,energy consumption,and impact.By improving the butterfly optimization algorithm,the optimal solution for the motion trajectory of the parallel robot was obtained and its superiority was verified.[Results]Compared with conventional methods,the proposed trajectory optimization method had better operational efficiency and control effects,with the more smoother of the planned trajectory.In actual sorting,the sorting error was less than 0.5 mm,the sorting success rate was 99.60%,and the average sorting time was 0.620 s.[Conclusion]Optimizing polynomial interpolation can effectively improve the efficiency and stability of trajectory planning for parallel robots.关键词
并联机器人/轨迹规划/蝴蝶优化算法/4-3-3-4插值法/食品分拣Key words
parallel robots/trajectory planning/butterfly optimization algorithm/4-3-3-4 interpolation method/food sorting引用本文复制引用
崔嵬,袁瑞,孙立涛,王巍..基于机器视觉和改进BOA的食品分拣机器人轨迹规划方法研究[J].食品与机械,2024,40(10):80-85,6.基金项目
河北省高等学校科学技术研究青年基金项目(编号:QN2022098) （编号:QN2022098）
邢台市科学技术局项目(编号:2022ZC008) （编号:2022ZC008）
