包装与食品机械2025，Vol.43Issue(1)：1-7,7.DOI:10.3969/j.issn.1005-1295.2025.01.001
基于改进鲸鱼优化算法的搬运机器人轨迹优化
The trajectory planning of handling robot based on enhanced WOA
摘要
Abstract
To further enhance the stability of food-handling robots at intermediate path points during high-speed operation and improve overall operational efficiency,a hybrid polynomial trajectory planning scheme based on an improved whale optimization algorithm(WOA)was designed,proposing a 4-5-4 hybrid polynomial trajectory planning algorithm.Nonlinear convergence factors and adaptive weight strategies were introduced to refine the basic WOA,and the improved WOA was utilized to optimize the time parameters of the 4-5-4 hybrid polynomial trajectory.Results demonstrated that compared to traditional 3-5-3 and 4-3-4 trajectory planning algorithms,the proposed algorithm reduced peak acceleration at intermediate path points by 44%and 4.3%respectively,improved convergence efficiency by approximately 70%,and decreased total trajectory interpolation time by nearly 40%.This study provides a reference for enhancing the stability and operational efficiency of food-handling robots.关键词
食品搬运机器人/混合多项式/轨迹规划/改进鲸鱼算法/时间优化Key words
food-handling robot/hybrid polynomial/trajectory planning/improve whale algorithm/time optimization分类
轻工业引用本文复制引用
阮从好,苏伟..基于改进鲸鱼优化算法的搬运机器人轨迹优化[J].包装与食品机械,2025,43(1):1-7,7.基金项目
国家自然科学基金项目(61973046) （61973046）
吉林省科技发展计划项目(20200403036SF) （20200403036SF）
