{"title":"基于多目标优化的激光 3D 扫描机器人轨迹规划","authors":"Yumeng Huang, Guangyu Liu, Wujia Yu, Shanen Yu","doi":"10.1007/s41315-024-00357-8","DOIUrl":null,"url":null,"abstract":"<p>In our industrial material defect detecting processes, the multi criteria is considered in two-level motion planning structure. Firstly, the feed speed of the end-effector should be programmed in optimal time for satisfying the requirement of high efficiency. Secondly, the planned joint velocities and accelaration are characterized by high-order derivatives to guarantee smooth motion, taking into account the kinematic constraints. Last but not least, energy consumption of the robot’s movement is a focus during designing trajectories. The Pareto optimal method is applied to solve the trajectory planning problem. The results of the experiments suggest that the Pareto approach can realize effective multi-objective optimization and deliver a group of Pareto solutions for decision makers. Based on the actual requirements, suitable Pareto-optimal trajectory can be achieved and the practical operation of the industrial robot is good.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":"32 1","pages":""},"PeriodicalIF":2.1000,"publicationDate":"2024-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Multiobjective optimization-based trajectory planning for laser 3D scanner robots\",\"authors\":\"Yumeng Huang, Guangyu Liu, Wujia Yu, Shanen Yu\",\"doi\":\"10.1007/s41315-024-00357-8\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>In our industrial material defect detecting processes, the multi criteria is considered in two-level motion planning structure. Firstly, the feed speed of the end-effector should be programmed in optimal time for satisfying the requirement of high efficiency. Secondly, the planned joint velocities and accelaration are characterized by high-order derivatives to guarantee smooth motion, taking into account the kinematic constraints. Last but not least, energy consumption of the robot’s movement is a focus during designing trajectories. The Pareto optimal method is applied to solve the trajectory planning problem. The results of the experiments suggest that the Pareto approach can realize effective multi-objective optimization and deliver a group of Pareto solutions for decision makers. Based on the actual requirements, suitable Pareto-optimal trajectory can be achieved and the practical operation of the industrial robot is good.</p>\",\"PeriodicalId\":44563,\"journal\":{\"name\":\"International Journal of Intelligent Robotics and Applications\",\"volume\":\"32 1\",\"pages\":\"\"},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-07-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Robotics and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1007/s41315-024-00357-8\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00357-8","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
Multiobjective optimization-based trajectory planning for laser 3D scanner robots
In our industrial material defect detecting processes, the multi criteria is considered in two-level motion planning structure. Firstly, the feed speed of the end-effector should be programmed in optimal time for satisfying the requirement of high efficiency. Secondly, the planned joint velocities and accelaration are characterized by high-order derivatives to guarantee smooth motion, taking into account the kinematic constraints. Last but not least, energy consumption of the robot’s movement is a focus during designing trajectories. The Pareto optimal method is applied to solve the trajectory planning problem. The results of the experiments suggest that the Pareto approach can realize effective multi-objective optimization and deliver a group of Pareto solutions for decision makers. Based on the actual requirements, suitable Pareto-optimal trajectory can be achieved and the practical operation of the industrial robot is good.
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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