[1]倪 奕,俞建峰,等.基于多目标遗传算法的电梯井道钻孔机器人轨迹规划[J].机械与电子,2023,41(11):49-56.
　NI Yi,YU Jianfeng,et al.Trajectory Planning of Drilling Robot for Elevator Shaft Based on Multi-objective Genetic Algorithm[J].Machinery & Electronics,2023,41(11):49-56.
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基于多目标遗传算法的电梯井道钻孔机器人轨迹规划()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年11期
页码:
49-56
栏目:
智能工程
出版日期:
2023-11-23

文章信息/Info

Title:
Trajectory Planning of Drilling Robot for Elevator Shaft Based on Multi-objective Genetic Algorithm
文章编号:
1001-2257 ( 2023 ) 11-0049-08
作者:
倪 奕 1 ; 2 ; 俞建峰 1 ;  2 ; 蒋 毅 1 ;  2 ; 化春键 1 ;  2 ; 钱陈豪 1 ; 2
1. 江南大学机械工程学院,江苏 无锡 214122 ;?
2. 江苏省食品先进制造装备技术重点实验室,江苏 无锡 214122
Author(s):
NI Yi1 ;  2 ;  YU Jianfeng1 ;  2 ;  JIANG Yi1 ;  2 ;  HUA Chunjian1 ;  2 ;  QIAN Chenhao1 ; 2
( 1.School of Mechanical Engineering , Jiangnan University , Wuxi 214122 , China ;
2.Jiangsu Key Laboratory of Advanced Food Manufacturing Equipmentand Technology , Wuxi 214122 , China )
关键词:
钻孔机器人; B 样条曲线;  NSGA II 算法; 轨迹规划; 时间和冲击最优
Keywords:
drilling robot ;  B-spline curve ;  NSGA-II algorithm ;  trajectory planning ;  time-impact optimization
分类号:
TP242
文献标志码:
A
摘要:
针对电梯导轨安装过程中繁多的钻孔操作,使用钻孔机器人代替人工作业。为提高钻孔机器人的作业效率和减少作业过程中的冲击振动,提出一种使用多目标遗传算法来优化钻孔机器人关节空间轨迹的方法。首先,使用七阶 B 样条曲线在钻孔机器人关节空间中进行插值;其次,以时间和冲击性能为优化目标,通过使用带约束处理的 NSGA II 算法对 B 样条的插值轨迹进行优化;最后,设计一种“综合比较算子”的轨迹方案选择标准来获取综合最优解。结果表明,使用带约束处理的 NSGA II 的轨迹优化方法获得的 Pareto 解集分布性和收敛性较好。与时间性能最优解和冲击性能最优解相比,综合最优解分别在冲击性能和时间性能上提升了 66.7% 和 22.26% ,表明使用综合比较算子获得的最优解在时间性能和冲击性能上都较为优良。
Abstract:
For the various drilling operations during the installation of elevator guide rails , drilling robots are used to replace manual work.In order to improve the working efficiency and reduce shock vibration during the drilling operations in the elevator shaft , the joint space trajectory of drilling robot using multi-objective genetic algorithm is proposed.First , the seventh-order B-spline curve is used to interpolate in the joint space of the drilling robot ; second , with time and impact performance as the optimization goal , the B-spline interpolation trajectory is optimized by using the NSGA-II algorithm with constraint processing ; finally , in order to obtain the comprehensive optimal solution , a standard is proposed to compare each solution by using the “ comprehensive comparison operator ” .The results show that the Pareto solution set obtained by using the constrained NSGA-II trajectory optimization method has good convergence and diversity.Compared with the optimal solution of time performance and the optimal solution of impact performance , this solution improves the impact performance and time performance by 66.7% and 22.26% respectively , which shows that the optimal solution obtained by using the comprehensive comparison operator is superior in time and impact performance.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-05-16
基金项目:国家自然科学基金资助项目( 51905215 )
作者简介:倪 奕 ( 1999- ),男,江苏常州人,硕士研究生,研究方向为机器人运动控制;俞建峰 ( 1974- ),男,江苏宜兴人,教授,研究方向为机器人运动控制、工业互联与智能传感,通信作者。
更新日期/Last Update: 2023-12-14