Abstract
[Objective] To balance the impact and energy consumption of SCARA high-speed parallel robots during food sorting, trajectory optimization methods are used to improve their comprehensive performance and meet the practical needs of smooth and low-energy-consumption food sorting. [Methods] Based on the analysis of the entire food sorting system, a trajectory optimization method for food sorting is proposed, combining an improved non-uniform quintic B-spline interpolation with multi-objective SCARA high-speed parallel robots. By introducing virtual path points into the starting and ending paths, a non-uniform quintic B-spline interpolation is used to construct the food sorting trajectory of SCARA high-speed parallel robots. The multi-objective trajectory optimization model is based on the simultaneous minimization of operational impact and energy consumption. The model is solved by a multi-objective particle swarm algorithm integrating external archives, global optimal particles, and inertia weight to achieve the trajectory optimization of SCARA high-speed parallel robots. The operational impact and energy consumption of the proposed method are analyzed through experiments. [Results] 引用格式：金光，李若琪，郑强仁. 基于改进 MOPSO 和多目标的 SCARA 并联机器人的食品分拣轨迹优化 [J]. 食品与机械，2025，41（8）：85-92. Citation:JIN Guang, LI Ruoqi, ZHENG Qiangren. Trajectory optimization for food sorting based on improved MOPSO and multi-objective SCARA parallel robots [J]. Food & Machinery, 2025, 41(8):85-92. The proposed method effectively achieves comprehensive optimization of operational impact and energy consumption in the food sorting of SCARA high-speed parallel robots, and significantly improves trajectory smoothness and algorithm solving performance. Compared with the pre-optimization method, the operational impact and energy consumption are reduced by more than 50%, and the error at different sorting speeds does not exceed 1 mm. [Conclusion] The combination of the improved non-uniform quintic B-spline and multi-objective trajectory optimization achieves the comprehensive optimization of operational impact and energy consumption for robots in food sorting.
Publication Date
9-25-2025
First Page
85
Last Page
92
DOI
10.13652/j.spjx.1003.5788.2025.60098
Recommended Citation
Guang, JIN; Ruoqi, LI; and Qiangren, ZHENG
(2025)
"Trajectory optimization for food sorting based on improved MOPSO and multi-objective SCARA parallel robots,"
Food and Machinery: Vol. 41:
Iss.
8, Article 12.
DOI: 10.13652/j.spjx.1003.5788.2025.60098
Available at:
https://www.ifoodmm.cn/journal/vol41/iss8/12
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