Abstract
Aiming at the problems of complex trajectory, low efficiency and high operational difficulty of the robot in multi-point punching of warp-knitted vamp, a method of optimizing punching trajectory based on improved ant colony optimization algorithm and Radau pseudospectral method is proposed. After obtaining the position coordinates of punching points, an improved ant colony optimization algorithm is used to calculate the punching sequence of the shortest path through all punching points, and then Radau pseudospectral method is used to solve the optimal trajectory of the laser punching robot. Improved ant colony optimization algorithm combines a distributed calculation method and the positive feedback mechanism. Radau pseudospectral method can transform the optimal control problems into nonlinear programming problems, and the combination of the two can quickly and reliably obtain the optimal solution. To verify the method, under the condition of selecting the same number and location of punching points, the experiments of Radau pseudospectral method to solve the trajectory planning of laser punching robot is carried out. The experimental results show that improved ant colony optimization algorithm can calculate the path of the vamp punching point in a shorter time and with high accuracy. Radau pseudospectral method can obtain smooth trajectories satisfying various constraints, which can meet the requirements of accuracy and efficiency in practical production.
Highlights
With the advantages of high yield, large elasticity and good quality, warp-knitted vamp is widely used in footwear products
In the path planning of warp-knitted vamp punching, the results obtained by improved ant colony optimization algorithm are basically consistent with the optimal solutions listed by exhaustive method, and the results obtained by greedy algorithm are too large; on the basis of the optimal punching sequence of sample 3 obtained by improved ant colony optimization algorithm, the optimal control problem of the punching robot is transformed into a general nonlinear programming problem by using the multiinterval Radau pseudospectral method, and the optimal trajectory of the robot in the working process is obtained
In this paper, aiming at the problems of low punching accuracy and poor efficiency of warp-knitted vamp, we propose an algorithm optimization method, including improved ant colony optimization algorithm to solve the punching sequence and Radau pseudospectral method to solve the optimal control problem
Summary
With the advantages of high yield, large elasticity and good quality, warp-knitted vamp is widely used in footwear products. In this paper, Improved ant colony optimization algorithm and Radau pseudospectral method are proposed to optimize the multi-point punching trajectory of warp-knitted vamp.
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