基于蚁群算法的六自由度采摘机器人轨迹规划研究

在现代农业生产中,果蔬采摘作业复杂而繁重,采摘机器人在作业过程中常常需要经历成千上万个果蔬采摘点,面对这样巨大的工作量,采摘机器人移动路径规划显得非常重要。为此,以采摘机器人运动轨迹为研究对象,以其运动轨迹总长最短为研究目标,针对机器人各关节机构运动速度变化情况及机器人运动特性,利用基本蚁群原理对六自由度采摘机器人的路径进行规划。实验结果表明:所设计的采摘机器人轨迹优化技术不但路径优化能力强、运动轨迹平滑,还具有可靠性强及稳定性好的优点。

Research on Trajectory Planning of Six-freedom-degree Picking Robot Based on Ant Colony Algorithm

In modern agriculture planting picking, picking fruits and vegetables operating in a complex and arduous, picking robot in the process often need to experience thousands of fruit and vegetable picking point, the face of such a huge workload, picking mobile robot path planning is very important. The to picking robot trajectory as the research ob-ject, takes the shortest length of the motion trajectory as the research target, for each robot joint mechanism motion speed changes, combined with robot motion characteristics, the basic ant colony algorithm of six degree of freedom picking robot path planning. The experimental results show that: the design of the picking robot trajectory optimization technology not only has strong ability of path optimization, smooth motion trajectory, but also has the advantages of strong reliability and good stability.