Abstract
The traditional tire laser engraving robots have the low and stable running capability and discontinuous motion trajectory during operation, leading to long running time, high energy consumption, and uneven operation. In order to solve these problems, this paper proposes an orthogonal robot trajectory planning method based on an improved multi-objective grasshopper optimization algorithm (IMOGOA) with the orthogonal robot as the research object. Firstly, this paper used the quintic non-uniform rational b-splines (NURBS) curves to construct the trajectory. Secondly, the optimization objectives of the orthogonal robot’s running time, energy consumption, and smoothness were used to obtain the Pareto optimal solution by using the IMOGOA to establish the objective function. Then, the optimization method was simulated and analyzed, and the optimal solution was selected to compare with the rest of the non-dominated solution sets. The simulation results showed that the proposed method reduced the running time by 33.68%, improved the energy consumption and smoothness performance by 34.48% and 56.58%, and achieved multi-objective comprehensive optimization of the orthogonal robot. Thus, the effectiveness and feasibility of the proposed method were verified. Finally, a tire laser engraving orthogonal robot experimental platform was built for physical verification experiments. The experimental results showed that the experimental trajectory deviated from the simulated trajectory by only 5.63%, further proving the proposed method’s practicality.
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