A trajectory planning method for DELTA sorting robot in tomato production line based on improved gate shaped trajectory
Food and Machinery, ISSN: 1003-5788, Vol: 39, Issue: 8, Page: 71-75
2023
- 66Usage
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Metrics Details
- Usage66
- Downloads54
- Abstract Views12
Article Description
Objective: To solve the problems of low efficiency and poor motion stability of DELTA robots in the tomato sorting process of existing tomato processing production lines. Methods: Based on the analysis of the DELTA robot sorting system, the optimized gate shaped trajectory of the cyclotron was used for DELTA robot trajectory planning. By replacing the right angle part of the gate shaped trajectory with a convolutional line, an optimization model with the goal of time optimization was established. The optimized parameters of the gate shaped trajectory were solved using an improved ant colony optimization algorithm. Analyzed its performance through experiments. Results; The proposed method had better average sorting time and sorting success rate compared to the gate shaped trajectory and other methods, with an average sorting time reduction of 11.61% and 1. 63%, respectively- and a sorting success rate increase of 2.05% and 0.56%. Conclusion; The proposed planning method effectively improves the sorting accuracy and efficiency of DELTA robots.
Bibliographic Details
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85201184859&origin=inward; http://dx.doi.org/10.13652/j.spjx.1003.5788.2023.60053; https://www.ifoodmm.cn/journal/vol39/iss8/11; https://www.ifoodmm.cn/cgi/viewcontent.cgi?article=5312&context=journal; https://dx.doi.org/10.13652/j.spjx.1003.5788.2023.60053; https://www.chndoi.org/Resolution/Handler?doi=10.13652/j.spjx.1003.5788.2023.60053
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