An improved PSO algorithm for time-optimal trajectory planning of Delta robot in intelligent packaging

Liu, Cheng; Cao, Guohua; Qu, Yongyin; Cheng, Yan-Ming

doi:10.1007/s00170-019-04421-7

Cited by 39 publications

(26 citation statements)

References 6 publications

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“…For each dimension

(

) of the position vector of individual, the formula is as follows:

where

and

are the parameters for adjusting the step length. The integer

is the number of individuals in the population particle swarm

, and their initial values are all the same;

and

is the value of the updated particle position within the feasible region

[ 38 ]. Then,

is the quotient of the range distance and the maximum iteration number:

…”

Section: The Solution Of the C3dps Quality Evaluation Modelmentioning

confidence: 99%

Evaluation of Cloud 3D Printing Order Task Execution Based on the AHP-TOPSIS Optimal Set Algorithm and the Baldwin Effect

Zhang

Zhuang

et al. 2021

Micromachines

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Focusing on service control factors, rapid changes in manufacturing environments, the difficulty of resource allocation evaluation, resource optimization for 3D printing services (3DPSs) in cloud manufacturing environments, and so on, an indicator evaluation framework is proposed for the cloud 3D printing (C3DP) order task execution process based on a Pareto optimal set algorithm that is optimized and evaluated for remotely distributed 3D printing equipment resources. Combined with the multi-objective method of data normalization, an optimization model for C3DP order execution based on the Pareto optimal set algorithm is constructed with these agents’ dynamic autonomy and distributed processing. This model can perform functions such as automatic matching and optimization of candidate services, and it is dynamic and reliable in the C3DP order task execution process based on the Pareto optimal set algorithm. Finally, a case study is designed to test the applicability and effectiveness of the C3DP order task execution process based on the analytic hierarchy process and technique for order of preference by similarity to ideal solution (AHP-TOPSIS) optimal set algorithm and the Baldwin effect.

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“…For each dimension

(

) of the position vector of individual, the formula is as follows:

where

and

are the parameters for adjusting the step length. The integer

is the number of individuals in the population particle swarm

, and their initial values are all the same;

and

is the value of the updated particle position within the feasible region

[ 38 ]. Then,

is the quotient of the range distance and the maximum iteration number:

…”

Section: The Solution Of the C3dps Quality Evaluation Modelmentioning

confidence: 99%

Evaluation of Cloud 3D Printing Order Task Execution Based on the AHP-TOPSIS Optimal Set Algorithm and the Baldwin Effect

Zhang

Zhuang

et al. 2021

Micromachines

View full text Add to dashboard Cite

show abstract

“…As one of the key technologies of mobile robots, trajectory planning has recently attracted plenty of research. A series of trajectory planning schemes have been reported until now, such as the graph search-based method [ 2 , 3 ], interpolating curve planning method [ 4 , 5 ], sampling-based planning method [ 6 ], and numerical optimization method [ 7 ]. Among these methods, the interpolating curve planning method is a widely examined planning strategy due to its optimized performance and strong ability to handle external constraints.…”

Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Planning for Wheeled Mobile Robots under Localization Uncertainty and Energy Efficiency Constraints

Zhang

Huang

Rong

et al. 2021

Sensors

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With the rapid development of robotics, wheeled mobile robots are widely used in smart factories to perform navigation tasks. In this paper, an optimal trajectory planning method based on an improved dolphin swarm algorithm is proposed to balance localization uncertainty and energy efficiency, such that a minimum total cost trajectory is obtained for wheeled mobile robots. Since environmental information has different effects on the robot localization process at different positions, a novel localizability measure method based on the likelihood function is presented to explicitly quantify the localization ability of the robot over a prior map. To generate the robot trajectory, we incorporate localizability and energy efficiency criteria into the parameterized trajectory as the cost function. In terms of trajectory optimization issues, an improved dolphin swarm algorithm is then proposed to generate better localization performance and more energy efficiency trajectories. It utilizes the proposed adaptive step strategy and learning strategy to minimize the cost function during the robot motions. Simulations are carried out in various autonomous navigation scenarios to validate the efficiency of the proposed trajectory planning method. Experiments are performed on the prototype “Forbot” four-wheel independently driven-steered mobile robot; the results demonstrate that the proposed method effectively improves energy efficiency while reducing localization errors along the generated trajectory.

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“…Machines and robots are often operated to maximize production outputs (i.e., minimization of time); this causes both high energy losses at high velocities and surpluses in deceleration. Therefore, the speed motion profile in a PTP operation can be changed [20][21][22][23][24][25][26] as well as the path profile in a multi-point trajectory [27,28] in order to use less energy. In literature, focusing only on PTP motions, several works dealing with the optimization and comparison between different PTP trajectory profiles, from the most common in industrial application such as the trapezoidal speed profile [29,30] to more complex ones [20][21][22], can be found.…”

Section: Introductionmentioning

confidence: 99%

“…In [23], the PTP trajectory planning of the excavating process of a large cable shovel has been considered: polynomial curves of different degrees have been numerically optimized to reduce the energy consumption per volume unit of dig material and compared in terms of excavating performance with the conventional S-curve. Liu et al [26] propose a trajectory planning optimization strategy, based on 4-3-3-4 degree polynomial interpolation, for Delta 3 robot performing high-speed handling operations. In [24], the kinematic redundancy is exploited as a tool to enhance the energetic performance of a robotic cell, while Ayten et al [25] consider two PTP trajectory optimization methods for redundant/hyper-redundant manipulators.…”

Section: Introductionmentioning

confidence: 99%

Energy-saving optimization method for point-to-point trajectories planned via standard primitives in 1-DoF mechatronic systems

Carabin

Vidoni

2021

Int J Adv Manuf Technol

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In this work, an analytical methodology to minimize the energy expenditure of mechatronic systems performing point-to-point (PTP) trajectories based on well-known motion primitives is developed and validated. Both PTP trajectory profiles commonly used in industrial motor drives and more complex ones are investigated. Focusing on generic 1-DoF mechatronic systems moving a constant inertia load (e.g., elevators, cranes, CNC machines, Cartesian axis) and possibly equipped or retrofitted with regenerative devices, the consumed energy formulation is firstly derived. Then, the analytical optimization considering all the selected PTP trajectory profiles is computed and a generic closed-form solution is determined. Finally, numerical and experimental evaluations are done showing the effectiveness of the theoretical results and proposed methodology. In addition, all the different trajectories are compared with respect to energy consumption.

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An improved PSO algorithm for time-optimal trajectory planning of Delta robot in intelligent packaging

Cited by 39 publications

References 6 publications

Evaluation of Cloud 3D Printing Order Task Execution Based on the AHP-TOPSIS Optimal Set Algorithm and the Baldwin Effect

Evaluation of Cloud 3D Printing Order Task Execution Based on the AHP-TOPSIS Optimal Set Algorithm and the Baldwin Effect

Optimal Trajectory Planning for Wheeled Mobile Robots under Localization Uncertainty and Energy Efficiency Constraints

Energy-saving optimization method for point-to-point trajectories planned via standard primitives in 1-DoF mechatronic systems

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