Abstract
Objective: To solve the problems of large rigid impact and poor motion stability of parallel robot in the process of picking and placing canned food. Methods: Based on the architecture of high-speed parallel robot, a trajectory planning method was proposed for trajectory optimization of end effector of high-speed parallel robot. A multi constraint, multi-objective and nonlinear trajectory optimization model was established and solved by an improved gravity search algorithm. The feasibility of the proposed method was verified by simulation. Results: Compared with the planned method, the proposed method can complete the task in the shortest time of 0.169 1 s. Conclusion: The planning method solves the problems of large rigid impact and poor motion stability in the picking and placing process of traditional parallel robot, and has certain practical value.
Publication Date
6-30-2022
First Page
82
Last Page
86
DOI
10.13652/j.spjx.1003.5788.2022.90128
Recommended Citation
Yan, XU
(2022)
"Trajectory optimization of high speed parallel robot based on improved gravity search algorithm,"
Food and Machinery: Vol. 38:
Iss.
5, Article 16.
DOI: 10.13652/j.spjx.1003.5788.2022.90128
Available at:
https://www.ifoodmm.cn/journal/vol38/iss5/16
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