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Simultaneous path planning and trajectory optimization for high-speed sorting system
Zhang, Haojian1,2; Su, Tingting1,2; Wu, Shaohong1; Zheng, Jun1; Wang, Yunkuan1
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2018-09-27
Volume15Issue:5Pages:13
Corresponding AuthorWu, Shaohong(wushaohong2018@163.com)
AbstractThis 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.
KeywordPath planning trajectory optimization real time delta robot simultaneous
DOI10.1177/1729881418797870
WOS KeywordPARALLEL MANIPULATOR ; ROBOT MANIPULATORS ; KINEMATIC DESIGN ; DELTA ROBOT ; SMOOTH ; PARAMETERS ; WORKSPACE
Indexed BySCI
Language英语
Funding ProjectMajor Science and Technology Project of Henan Province[161100210300]
Funding OrganizationMajor Science and Technology Project of Henan Province
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000445860100001
PublisherSAGE PUBLICATIONS INC
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22398
Collection智能制造技术与系统研究中心_先进制造与自动化
Corresponding AuthorWu, Shaohong
Affiliation1.Chinese Acad Sci, Intelligent Mfg Technol & Syst Res Ctr, Inst Automat, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Haojian,Su, Tingting,Wu, Shaohong,et al. Simultaneous path planning and trajectory optimization for high-speed sorting system[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(5):13.
APA Zhang, Haojian,Su, Tingting,Wu, Shaohong,Zheng, Jun,&Wang, Yunkuan.(2018).Simultaneous path planning and trajectory optimization for high-speed sorting system.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(5),13.
MLA Zhang, Haojian,et al."Simultaneous path planning and trajectory optimization for high-speed sorting system".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.5(2018):13.
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