Affiliation:
1. School of Automation, Beijing Institute of Technology, Beijing 100081, China
2. Jiangsu Automation Research Institute, Lianyungang 222061, China
Abstract
During the assembly of mechanical systems, the dual-arm robot is always used for cabin docking. In order to ensure the accuracy and reliability of cabin docking, a multi-objective trajectory planning method for the dual-arm robot was proposed. A kinematic model of the dual-arm robot was constructed based on the Denavit–Hartenberg (D-H) method firstly. Then, in the Cartesian space, the end trajectory of the dual-arm robot was confirmed by the fifth-order B-spline curve. On the basis of a traditional multi-objective cuckoo search algorithm, a modified cuckoo algorithm was built using the improved initial population generation method and the step size. The total consumption time and joint impact were selected as the objective functions, the overall optimal solution for the modified cuckoo algorithm was obtained using the normalized evaluation method. The optimal trajectory planning was achieved. Finally, the feasibility and effectiveness of the trajectory planning method were verified with the experiments.
Funder
National Natural Science Foundation of China
Science and Technology Cooperation Project of Yunnan Province
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Reference28 articles.
1. Automated alignment and marry-up of aircraft fuselage sections with a final assembly line;SAE Trans.,2001
2. Mission critical: Precision in the air and on the ground;Bond;Mod. Mater. Handl.,2013
3. Trajectory optimization with particle swarm optimization for manipulator motion planning;Kim;IEEE Trans. Ind. Inform.,2015
4. An effective robot trajectory planning method using a genetic algorithm;Tian;Mechatronics,2003
5. Smooth point-to-point trajectory planning for industrial robots with kinematical constraints based on high-order polynomial curve;Wang;Mech. Mach. Theory,2019