食品与机械2025，Vol.41Issue(3)：81-87,7.DOI:10.13652/j.spjx.1003.5788.2024.60150
基于改进浣熊优化算法的食品分拣机器人机械臂时间最优轨迹规划
Time-optimal trajectory planning for food sorting robot arms based on improved coati optimization algorithm
摘要
Abstract
[Objective]To improve the efficiency and stability of spatial optimal time trajectory planning for food sorting robot arms.[Methods]A time-optimal trajectory planning method for food sorting robot arms based on an improved coati optimization algorithm(COA)was proposed.A UR5 six-degree-of-freedom robot arm model was established,and the 3-5-3 polynomial interpolation method was used to construct the motion trajectory of the robot arms.Drawing inspiration from the physical phenomenon of optical refraction,the COA was improved.The improved COA(ICOA)was then applied to optimize and solve the trajectory planning problem of robotic arms while satisfying constraints on angle,angular velocity,and angular acceleration,aiming to minimize joint motion time as much as possible.[Results]Simulation results showed that,compared with three other time-optimal trajectory planning methods,the proposed method reduced trajectory execution time by 14.58%,21.20%,and 4.18%,respectively.[Conclusion]The proposed method effectively shortens the robot arms'operating time and significantly improves their working efficiency.关键词
食品分拣/机械臂/浣熊优化算法/轨迹规划Key words
food sorting/mechanical arm/coati optimization algorithm/trajectory planning引用本文复制引用
蒋金伟,杨启志,刘进福,张壮壮..基于改进浣熊优化算法的食品分拣机器人机械臂时间最优轨迹规划[J].食品与机械,2025,41(3):81-87,7.基金项目
江苏省自然科学基金(编号:BK20220241) （编号:BK20220241）
江苏省产学研合作项目(编号:BY20230916) （编号:BY20230916）
