文章基本信息

标题：Simultaneous path planning and trajectory optimization for high-speed sorting system
本地全文：下载
作者：Haojian Zhang ; Tingting Su ; Shaohong Wu 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：5
DOI：10.1177/1729881418797870
出版社：SAGE Publications
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.
关键词：Path planning ; trajectory optimization ; real time ; delta robot ; simultaneous