Improved Genetic Algorithm for Intelligent Grinding Trajectory of Industrial Robot Sensor

Abstract

In order to study the improved genetic algorithm for intelligent grinding trajectory of industrial robot, a trajectory planning method with optimal energy consumption is proposed. Firstly, the trajectory of the robot is regarded as a series of type value points in space, and each adjacent type value point is connected by a quintic $B$ -spline curve to obtain the trajectory function of the robot. Then, the kinetic energy is taken as the target energy consumption function, and the kinematic and dynamic constraints of each joint are considered at the same time. Finally, the genetic algorithm is improved to optimize the objective energy consumption function. The improved genetic algorithm improves the operation efficiency, local search ability, and real-time performance of the algorithm. Front and rear times during handling were 15.034 s and 17.456 s for 2.422 s. The optimal secondary trajectory planning algorithm is called in the single workstation of the welding robot and the robot welding the bucket with spatial straight line and spatial curve, respectively. Through the time difference, the time used in the spatial linear welding is 5.462 s, and the spatial curve welding time is 12.981 s. The proposed algorithm can be applied to the production of various industrial sensor robots such as welding robot, cutting robot, and spraying robot and improves the working efficiency of robot operation. In addition, the genetic method of multichromosome structure also has a certain reference for solving the general GSTP problem.