Simultaneous path planning and trajectory optimization for high-speed sorting system

• Published in: International journal of advanced robotic systems Vol. 15; no. 5; p. 172988141879787
• Main Authors: Zhang, Haojian, Su, Tingting, Wu, Shaohong, Zheng, Jun, Wang, Yunkuan
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 01.09.2018; Sage Publications Ltd; SAGE Publishing
• Subjects: Classification; Conveyors; Deceleration; Efficiency; End effectors; Planning; Sorting algorithms; Strategy; Trajectory analysis; Trajectory optimization; Trajectory planning; Path planning; trajectory optimization; delta robot; real time; simultaneous
• ISSN: 1729-8814; 1729-8806; 1729-8814
• DOI: 10.1177/1729881418797870

This article presents a strategy for efficient sorting path planning and trajectory optimization with multiple constraints. The proposed strategy is applicable to typical high-density sorting applications. It plans the sorting path while optimizing each trajectory. The total stroke traveled by the end effector to complete the sorting task is shortened, and the efficiency of the production line is correspondingly facilitated. Thus, this article designs bow-shaped trajectories by analyzing the work process of the production line to ensure the smooth transition of the end effector and bow-shaped trajectories are based on the starting point and the end point of each sorting action. The modified trapezoidal acceleration and deceleration algorithm is used to optimize each sorting trajectory, which ensures that each sorting action is executed quickly and stably. Simultaneously, the greedy strategy is applied to plan the sorting task, which further shortens the total stroke of the end effector and improves the efficiency of the production line. A specific cost function is also designed to improve the planning strategy to prevent the occurrence of missing materials and enhance the adaptability of the sorting system. In consideration of the efficiency of the sorting system is significantly improved by this approach, the effectiveness of the proposed strategy in this article is thus verified compared with existing ones by experiments. In addition, the impact of the conveyor speed on the sorting system is also discussed.