| 双机器人松协调装配轨迹规划方法研究 |
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| 引用本文： | 姚俊,李俊渊,李明富. 双机器人松协调装配轨迹规划方法研究[J]. 机械制造与自动化, 2020, 0(3): 138-141 |
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| 作者姓名： | 姚俊 李俊渊 李明富 |
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| 作者单位： | 湘潭大学 机械工程学院,湖南 湘潭411105;湘潭大学 机械工程学院,湖南 湘潭411105;湘潭大学 机械工程学院,湖南 湘潭411105 |
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| 基金项目： | 湖南省教育厅科学研究重点项目;国家自然科学基金;湖南省自然科学基金 |
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| 摘 要： | 针对主-从式双机器人松协调装配轨迹规划问题,提出了一种基于量子粒子群优化算法和B样条的轨迹规划方法,并进行了仿真实验。结果表明该方法可以使双机器人以较优的无碰撞干涉轨迹高效地完成协调装配任务,实现了双机器人的高精度装配作业,为物联制造系统中双机器人协调装配面临的关键问题提供了有效的解决方案。
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| 关 键 词： | 双机器人松协调装配 B样条 量子粒子群算法 误差补偿 轨迹规划 |
Research on Trajectory Planning Method of Loose Coordination Assembly of Double Robots |
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| YAO Jun,LI Junyuan,LI Mingfu. Research on Trajectory Planning Method of Loose Coordination Assembly of Double Robots[J]. Machine Building & Automation, 2020, 0(3): 138-141 |
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| Authors: | YAO Jun LI Junyuan LI Mingfu |
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| Affiliation: | (College of Mechanical Engineering,Xiangtan University,Xiangtan 411105,China;Complex Track Processing Technology and Equipment Engineering Research Center of Ministry of Education,Xiangtan University,Xiangtan 411105,China) |
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| Abstract: | Aiming at the problem existing in the trajectory planning of loose coordination assembly of master-slave double robots,a trajectory planning method based on quantum-behaved particle swarm optimization algorithm and B-spline is proposed.Then,a simulation experiment is carried out.The results show that the method above can be used to make the double robots perform the assembly task efficiently with out collision,and operate precisely.An effective solution is provided for the key problems existing in its coordination assembly in internet of things manufacturing system. |
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| Keywords: | loose coordination assembly of double robots B-spline QPSO error compensation trajectory planning |
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