基于多目标优化的激光 3D 扫描机器人轨迹规划

Yumeng Huang, Guangyu Liu, Wujia Yu, Shanen Yu
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引用次数: 0

摘要

在我们的工业材料缺陷检测过程中,两级运动规划结构考虑了多标准。首先,终端执行器的进给速度应在最佳时间内编程,以满足高效率的要求。其次,规划的关节速度和加速度采用高阶导数,以保证运动平稳,同时考虑运动学约束。最后但并非最不重要的一点是,机器人运动的能耗是轨迹设计的重点。我们采用帕累托最优法来解决轨迹规划问题。实验结果表明,帕累托方法可以实现有效的多目标优化,并为决策者提供一组帕累托解决方案。根据实际需求,可以实现合适的帕累托最优轨迹,工业机器人的实际运行效果良好。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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Multiobjective optimization-based trajectory planning for laser 3D scanner robots

In our industrial material defect detecting processes, the multi criteria is considered in two-level motion planning structure. Firstly, the feed speed of the end-effector should be programmed in optimal time for satisfying the requirement of high efficiency. Secondly, the planned joint velocities and accelaration are characterized by high-order derivatives to guarantee smooth motion, taking into account the kinematic constraints. Last but not least, energy consumption of the robot’s movement is a focus during designing trajectories. The Pareto optimal method is applied to solve the trajectory planning problem. The results of the experiments suggest that the Pareto approach can realize effective multi-objective optimization and deliver a group of Pareto solutions for decision makers. Based on the actual requirements, suitable Pareto-optimal trajectory can be achieved and the practical operation of the industrial robot is good.

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来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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