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  • 中国标准连:ISSN1005-2895
  • 续出版物号: CN 33-1180/TH
  • 主管单位:轻工业杭州机电设计研究院有限公司
  • 主办单位:轻工业杭州机电设计研究院有限公司、中国轻工机械协会、中国轻工业机械总公司
  • 社  长:刘安江
  • 主  编:黄丽珍
  • 地  址:杭州市余杭区高教路970号西溪联合科技广场4-711
  • 电子邮件:qgjxzz@126.com
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朱天宝, 金晓怡, 王川, 奚鹰.基于改进遗传算法的柔性抛光工业机器人抛光时间优化[J].轻工机械,2020,38(3):43-47
基于改进遗传算法的柔性抛光工业机器人抛光时间优化
Flexible Polishing Industry Based on Improved Genetic Algorithm Robot Polishing Time Optimization
  
DOI:10.3969/j.issn.1005 2895.2020.03.009
中文关键词:  工业机器人  柔性抛光  改进的遗传算法  三次B样条曲线  非线性轨迹曲线
英文关键词:industrial robot  flexible polishing  improved genetic algorithm  cubic B spline curve  nonlinear trajectory curve
基金项目:江西省赣州市科技重大专项项目(TGS2018 01 02)。
作者单位
朱天宝, 金晓怡, 王川, 奚鹰 上海工程技术大学 机械与汽车工程学院 上海201620 
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中文摘要:
      为实现抛光时间最优的目标,课题组对自主研发的柔性抛光工业机器人抛光轨迹进行了合理规划。从表壳的表耳处取得一系列工业机器人机械臂工作的位置点,通过求解逆运动学方程得到相应的关节位置,采用三次B样条曲线拟合的方法得到各关节的轨迹曲线;用B样条曲线的控制定点约束代替运动学约束,并基于改进的遗传算法,求解出时间最优的时间节点;在此基础上,规划得到满足时间最优的非线性轨迹曲线。研究表明:基于改进的遗传算法,能够很好地避免传统遗传算法的“退化”现象,更快地求得最优解,即抛光工业机器人的抛光工作时间达到最优。
英文摘要:
      In this paper, the self developed flexible polishing industrial robot was taken as the research object, and the polishing trajectory was rationally planned to achieve the best polishing time. A series of industrial robot manipulators were obtained from the lugs of the case, and the corresponding joint positions were obtained by solving the inverse kinematics equation. The trajectory curves of each joint were obtained by the method of cubic B spline curve fitting. The control points of the B spline curve were used instead of the kinematic constraints, and the time optimal time nodes were solved based on the improved genetic algorithm. On this basis, the plan obtained a nonlinear trajectory curve that satisfied the time optimum. The research shows that based on the improved genetic algorithm, the "degeneration" phenomenon of traditional genetic algorithm can be avoided well, and the optimal solution can be obtained faster, that the polishing working time of the polished industrial robot is optimal.
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