基于改进贪心算法的工业机器人分拣装配协同控制系统设计

Design of Industrial Robot Sorting and Assembly Collaborative Control System Based on Improved Greedy AlgorithmXie Yu 1, Qiu Yijian 23 *

摘要:

制造业自动化水平的不断提升,使得工业机器人应用频率随之上升。工业机器人分拣装配目标众多,再加之操作环境较为复杂,导致工业机器人控制难度大幅增加,故设计基于改进贪心算法的工业机器人分拣装配协同控制系统。系统硬件单元主要为工业相机设计单元、工业计算机设计单元、霍尔传感器设计单元与协同控制器设计单元组成。软件模块分为数据通信开发模块、目标工件的识别与定位模块、工业机器人分拣最优路径选择模块与工业机器人装配操作轨迹规划模块四个部分。在工业机器人分拣最优路径选择模块与工业机器人装配操作轨迹规划模块中,应用改进贪心算法,通过硬件与软件的共同协作实现了工业机器人分拣装配的协同控制。实验结果显示:应用设计系统获得的工业机器人分拣速率为50个/min,分拣出错率最小值为0.1%,装配操作轨迹控制结果与最优装配操作轨迹保持一致,证实了设计系统分拣装配控制性能较佳。

Abstract:

The continuous improvement of manufacturing automation level has led to an increase in the frequency of industrial robot applications. There are many sorting and assembly targets for industrial robots, and the operating environment is complex, which greatly increases the difficulty of industrial robot control. Therefore, a collaborative control system for industrial robot sorting and assembly based on improved greedy algorithm is designed. The system hardware unit mainly consists of an industrial camera design unit, an industrial computer design unit, a Hall sensor design unit, and a collaborative controller design unit. The software module is divided into four parts: data communication development module, target workpiece recognition and positioning module, industrial robot sorting optimal path selection module, and industrial robot assembly operation trajectory planning module. In the optimal path selection module and assembly operation trajectory planning module of industrial robots, an improved greedy algorithm was applied to achieve collaborative control of industrial robot sorting and assembly through the collaboration of hardware and software. The experimental results show that the industrial robot sorting rate obtained by the application design system is 50 pieces/min, with a minimum sorting error rate of 0.1%. The assembly operation trajectory control results are consistent with the optimal assembly operation trajectory, confirming that the sorting assembly control performance of the design system is better.