基于粒子群优化算法的工业机器人定位抓取控制系统设计
2023,31(10):128-133
摘要：为消除工业机器人实际抓取位置与定位位置之间的误差，实现对机器人抓取行为的有效控制，设计基于粒子群优化算法的工业机器人定位抓取控制系统。根据主要机器部件选型情况建立电气网络结构，再联合视觉传感器与定位控制平台，控制抓取夹爪的行动范围，完成工业机器人定位抓取控制系统硬件的总体设计。遵循粒子群优化算法应用需求，实施Gbest选取与Pbest更新，并联合所得计算结果，定义三维坐标系表达式，建立基于粒子群优化算法的定位坐标系。根据跟踪点坐标求解结果，确定控制系数优化处理条件，完善抓取控制原则，再联合相关应用结构，实现基于粒子群优化算法的工业机器人定位抓取控制系统的设计。实验结果表明，粒子群优化算法作用下，工业机器人实际抓取位置坐标在X轴、Y轴方向上均准确符合定位位置坐标，有效消除了抓取误差，能够实现对机器人抓取行为的有效控制。
关键词：粒子群优化算法；工业机器人；定位抓取；电气网络；视觉传感器；抓取夹爪；三维坐标系；跟踪点；
Design of positioning and grasping control system for industrial robot based on particle swarm optimization algorithm
Abstract：In order to eliminate the error between the actual grasping position and the positioning position of the industrial robot, and achieve effective control of the robot's grasping behavior, a positioning and grasping control system of the industrial robot based on particle swarm optimization algorithm is designed. The electrical network structure is established according to the selection of main machine components, and then the visual sensor and positioning control platform are combined to control the action range of the gripper, and the overall design of the hardware of the positioning and grasping control system of the industrial robot is completed. Follow the application requirements of particle swarm optimization algorithm, implement Gbest selection and Pbest update, and combine the calculated results, define the three-dimensional coordinate system expression, and establish the positioning coordinate system based on particle swarm optimization algorithm. According to the solution results of the tracking point coordinates, the optimal processing conditions of the control coefficients are determined, the grasping control principles are improved, and the relevant application structures are combined to achieve the design of the positioning and grasping control system for industrial robots based on particle swarm optimization algorithm. The experimental results show that under the action of particle swarm optimization algorithm, the actual grasping position coordinates of industrial robots accurately conform to the positioning position coordinates in the X and Y directions, effectively eliminating the grasping error, and effectively controlling the robot's grasping behavior.
Key words：particle swarm optimization algorithm; Industrial robot; Positioning grab; Electrical network; Visual sensor; Grab the clamping claw; 3D coordinate system; Tracking point;
收稿日期：2023-01-03
基金项目：福建省中青年教师教育科研项目（科技类）基金项目：高校文献检索系统的研究与建设（项目编号：JAT201198）
