Simultaneous path planning and trajectory optimization for high-speed sorting system

doi:10.1177/1729881418797870

CORC > 自动化研究所 > 中国科学院自动化研究所 > 智能制造技术与系统研究中心 > 先进制造与自动化团队

	Simultaneous path planning and trajectory optimization for high-speed sorting system
	Zhang, Haojian 1,2; Su, Tingting 1,2; Wu, Shaohong 1; Zheng, Jun 1; Wang, Yunkuan 1
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2018-09-27
卷号	15 期号:5 页码:13
关键词	Path planning trajectory optimization real time delta robot simultaneous
ISSN号	1729-8814
DOI	10.1177/1729881418797870
通讯作者	Wu, Shaohong(wushaohong2018@163.com)
英文摘要	This article presents a strategy for efficient sorting path planning and trajectory optimization with multiple constraints. The proposed strategy is applicable to typical high-density sorting applications. It plans the sorting path while optimizing each trajectory. The total stroke traveled by the end effector to complete the sorting task is shortened, and the efficiency of the production line is correspondingly facilitated. Thus, this article designs bow-shaped trajectories by analyzing the work process of the production line to ensure the smooth transition of the end effector and bow-shaped trajectories are based on the starting point and the end point of each sorting action. The modified trapezoidal acceleration and deceleration algorithm is used to optimize each sorting trajectory, which ensures that each sorting action is executed quickly and stably. Simultaneously, the greedy strategy is applied to plan the sorting task, which further shortens the total stroke of the end effector and improves the efficiency of the production line. A specific cost function is also designed to improve the planning strategy to prevent the occurrence of missing materials and enhance the adaptability of the sorting system. In consideration of the efficiency of the sorting system is significantly improved by this approach, the effectiveness of the proposed strategy in this article is thus verified compared with existing ones by experiments. In addition, the impact of the conveyor speed on the sorting system is also discussed.
资助项目	Major Science and Technology Project of Henan Province[161100210300]
WOS关键词	PARALLEL MANIPULATOR ; ROBOT MANIPULATORS ; KINEMATIC DESIGN ; DELTA ROBOT ; SMOOTH ; PARAMETERS ; WORKSPACE
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000445860100001
资助机构	Major Science and Technology Project of Henan Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/22398]
专题	自动化研究所_智能制造技术与系统研究中心_先进制造与自动化团队
通讯作者	Wu, Shaohong
作者单位	1.Chinese Acad Sci, Intelligent Mfg Technol & Syst Res Ctr, Inst Automat, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Haojian,Su, Tingting,Wu, Shaohong,et al. Simultaneous path planning and trajectory optimization for high-speed sorting system[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(5):13.
APA	Zhang, Haojian,Su, Tingting,Wu, Shaohong,Zheng, Jun,&Wang, Yunkuan.(2018).Simultaneous path planning and trajectory optimization for high-speed sorting system.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(5),13.
MLA	Zhang, Haojian,et al."Simultaneous path planning and trajectory optimization for high-speed sorting system".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.5(2018):13.