重庆理工大学学报（自然科学版）2025，Vol.39Issue(3)：106-112,7.DOI:10.3969/j.issn.1674-8425(z).2025.02.013
多目标NSDE算法的施釉机器人轨迹优化
Multi-objective NSDE algorithm for glazing robot trajectory optimization
摘要
Abstract
We propose a multi-objective optimization method based on the NSDE(non-dominated sorting differential evolution)algorithm for the optimization of the initial trajectory given by manual teaching in robot glazing.On the basis of the given initial trajectory,a multi-objective optimization model is established with the optimization objectives of high glaze thickness uniformity and short glazing time,and the NSDE algorithm is adopted to optimize the parameters of gun moving speed and gun height.The solution set of the optimization parameters is computed,and the uniformity of glaze thickness before and after optimization is compared with the simulation analysis.The glaze test and thickness detection are conducted for the billet specimens using the spray trajectory under the optimization parameters.After measurement,the uniformity error of the glaze layer thickness sprayed using this trajectory optimization method is 9.21％,which verifies the feasibility and effectiveness of our planned glazing trajectory.关键词
施釉机器人/多目标优化/NSDE算法/轨迹优化/厚度均匀性Key words
glazing robot/multi-objective optimization/NSDE algorithm/trajectory optimization/thickness uniformity分类
信息技术与安全科学引用本文复制引用
霍平,李伟,陈江峰,冯永利..多目标NSDE算法的施釉机器人轨迹优化[J].重庆理工大学学报（自然科学版）,2025,39(3):106-112,7.基金项目
河北省高等学校科学研究计划科技重点项目(ZD2020151) （ZD2020151）
唐山市科技创新团队培养计划项目(21130208D) （21130208D）
