基于模拟退火算法的码垛机器人码垛路径规划

目的 优化码垛路径以节省码垛时间。方法 在一定姿态的约束下， 对常见的四自由度机械臂进行建模分析， 利用几何学求得逆运动学解。将码垛机器人码垛看作一类有顺序约束的旅行商问题（TSP）， 采用模拟退火算法寻找最优的码垛路径， 并进行码垛实验。结果 通过与随机选择的码垛路径进行对比， 发现基于模拟退火算法的运动方案缩短了码垛的时间。结论 通过模拟退火算法对码垛路径进行规划， 提出了快速码垛的方案， 对实际生产中码垛和上、 下料系统开发都具有一定的指导作用。

Path Planning of Palletizing Robot Stacking Based on Simulated Annealing Algorithm

The study aimed to explore an optimal path of stacking for palletizing Robot to save time. The model of common 4-DOF manipulator was analyzed under a certain posture constraints, and geometry was applied to obtain the inverse kinematics. Considered the palletizing robot stacking as a kind of TSP with ordering constraints, SA algorithm was used to find the optimal path for Stacking and implement palletizing. By compared with the random selected stacking path, we found that a combination of SA algorithm shorten the time of stacking. Taken together, a quick scheme for stacking was proposed by introducing SA algorithm into stacking, which can direct the stacking, feeding and blanking in actual production .