Energy Saving Technology Of Robot Flexible Production Line Based On Trajectory Planning And Improved Ant Colony Scheduling

The advent of the international energy crisis and the orientation of national policies have made energy conservation a key issue of concern to the manufacturing industry.With the development of smart factories,robotic flexible production lines will gradually become the main force of production in manufacturing plants in the future,and they are also the main energy consumers of manufacturing plants.It can be predicted that the energy-saving technology of the robot flexible production line has important research significance.Based on industrial robot trajectory planning and flexible production line scheduling,research on energy-saving technology of robot flexible production line is carried out.The proposed energy-saving technologies have been applied experiments on real industrial robots and flexible production lines,thus certain application value is proven.The main research work includes:(1)Approximate dynamics identification based on parallel multilayer perceptrons.Aiming at the problem of unknown dynamic parameters of industrial robots in the actual manufacturing environment,meanwhile obtaining the Lagrangian form of dynamic identification results,an approximate dynamic model based on parallel multilayer perceptrons is proposed.Model training is based on the second order gradient algorithm to ensure model convergence.Experiments show that the proposed approximate dynamics identification method has better identification effects than theoretical identification and intelligent identification,and can obtain a Lagrangian dynamic model,which can be effectively applied to real industrial robots.(2)Time-energy optimal trajectory planning based on convex optimization.In order to ensure the stability of trajectory planning and the energy-saving effect of the resulting trajectory,the time-energy consumption optimal trajectory planning model of industrial robots is solved based on convex optimization.The trajectory planning model is transformed into a convex optimization problem of finite discrete optimization variables through convex optimization reconstruction and discrete transformation,and the energy-saving trajectory is solved.Experiments show that the proposed trajectory planning based on convex optimization can ensure the global optimality of the trajectory planning results,and its energy-saving effect and stability are better than parametric trajectory planning.(3)Flexible production line scheduling search strategy based on improved ant colony algorithm.The integrated process planning and scheduling to model the energy-saving problem of flexible production lines is introduced,and proposed a scheduling search strategy based on improved ant colony algorithm to solve the problem of existing heuristic search strategies in the search process due to the lack of overall energy consumption information of the production line.The problem of local optimization.Experiments show that the solution effect and stability of the scheduling search strategy based on the improved ant colony are better than other heuristic search strategies.Based on the integrated process planning and scheduling solution framework,the improved ant colony scheduling search strategy application can effectively reduce the energy consumption of the air-conditioning internal machine assembly line by 5-10%.