Study on Trajectory Optimization for a Flexible Parallel Robot in Tomato Packaging

文献类型： 外文期刊

第一作者： Guo, Tianci

作者： Guo, Tianci;Guo, Tianci;Li, Jiangbo;Zhang, Yizhi;Cai, Letian;Li, Qicheng;Li, Jiangbo;Li, Jiangbo

作者机构：

关键词： parallel robot; trajectory planning; polynomial interpolation; improved particle swarm optimization; tomato packaging

期刊名称：AGRICULTURE-BASEL （ 影响因子：3.6； 五年影响因子：3.8 ）

ISSN：

年卷期： 2024 年 14 卷 12 期

页码：

收录情况： SCI

摘要： Currently, flexible robots, exemplified by parallel robots, play a crucial role in the automated packaging of agricultural products due to their rapid, accurate, and stable characteristics. This research systematically explores trajectory planning strategies for parallel robots in the high-speed tomato-grabbing process. Kinematic analysis of the parallel robot was conducted using geometric methods, deriving the coordinates of each joint at various postures, resulting in a kinematic forward solution model and corresponding equations, which were verified with data. To address the drawbacks of the point-to-point "portal" trajectory in tomato grabbing, a 3-5-5-3 polynomial interpolation method in joint space was proposed to optimize the path, enhancing trajectory smoothness. To improve the efficiency of the tomato packaging process, a hybrid algorithm combining particle swarm optimization (PSO) and genetic algorithms (GA) was developed to optimize the operation time of the parallel robot. Compared to traditional PSO, the proposed algorithm exhibits better global convergence and is less likely to fall into local optima, thereby ensuring a smoother and more efficient path in the robot-grabbing tomato process and providing technical support for automated tomato packaging.

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