Research on trajectory planning method for food sorting robot based on machine vision and improved BOA

Authors

CUI Wei, Hebei Institute of Mechanical and Electrical Technology , Xingtai , Hebei 054000 , China;Hebei Technical Innovation Center for Intelligent Sensing and Advanced Control of Mechanical and Electrical Equipment , Xingtai , Hebei 054000 , China;Xingtai Technical Innovation Center for Intelligent Sensing and Control of Mechanical and Electrical Equipment , Xingtai , Hebei 054000 , ChinaFollow
YUAN Rui, Hebei Institute of Mechanical and Electrical Technology , Xingtai , Hebei 054000 , China;Hebei Technical Innovation Center for Intelligent Sensing and Advanced Control of Mechanical and Electrical Equipment , Xingtai , Hebei 054000 , China;Xingtai Technical Innovation Center for Intelligent Sensing and Control of Mechanical and Electrical Equipment , Xingtai , Hebei 054000 , China
SUN Litao, Hebei Institute of Mechanical and Electrical Technology , Xingtai , Hebei 054000 , China;Hebei Technical Innovation Center for Intelligent Sensing and Advanced Control of Mechanical and Electrical Equipment , Xingtai , Hebei 054000 , China;Xingtai Technical Innovation Center for Intelligent Sensing and Control of Mechanical and Electrical Equipment , Xingtai , Hebei 054000 , China
WANG Wei, Hebei University of Engineering , Handan , Hebei 056038 , China

Corresponding Author(s)

崔嵬（1983—），男，河北机电职业技术学院副教授，硕士。E-mail：cuiwgsgfs13@126.com

Abstract

［［Objective ］］ Reduce the trajectory running time,energy consumption,and operational impact of parallel robots during the food sorting process.［［Methods ］］ Based on the analysis of the Delta parallel robot food sorting system,an improved 4-3-3-4 interpolation method was proposed for trajectory optimization of the Delta parallel robot.Built a model to optimize the joint coefficients of the 4-3-3-4 interpolation polynomial with the goal of optimizing the running time,energy consumption,and impact.By improving the butterfly optimization algorithm,the optimal solution for the motion trajectory of the parallel robot was obtained and its superiority was verified.［［Results］］ Compared with conventional methods,the proposed trajectory optimization method had better operational efficiency and control effects,with the more smoother of the planned trajectory.In actual sorting,the sorting error was less than 0.5 mm,the sorting success rate was 99.60%,and the average sorting time was 0.620 s.［［Conclusion ］］ Optimizing polynomial interpolation can effectively improve the efficiency and stability of trajectory planning for parallel robots.

Publication Date

2-18-2025

First Page

80

Last Page

85

DOI

10.13652/j.spjx.1003.5788.2024.60118

Recommended Citation

Wei, CUI; Rui, YUAN; Litao, SUN; and Wei, WANG (2025) "Research on trajectory planning method for food sorting robot based on machine vision and improved BOA," Food and Machinery: Vol. 40: Iss. 10, Article 12.
DOI: 10.13652/j.spjx.1003.5788.2024.60118
Available at: https://www.ifoodmm.cn/journal/vol40/iss10/12

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