Yongyi Yuan,∗ Wei Ji,∗ Haode Fang,∗ Hao Yuan,∗ Shihong Ding,∗ Yongqi Jiang,∗∗ and Yonggui Zha∗∗
Tool-changing robot, time-optimal trajectory planning, sparrow search algorithm
This paper proposes an improved algorithm, the hybrid sparrow- osprey search algorithm (SOHSA), to enhance the tool-changing efficiency of the grinding machine’s robotic tool changer. The optimisation efficiency and trajectory time of the planning algorithm directly impact the robot’s efficiency. To address these factors, three enhancements are made to the sparrow search algorithm (SSA). First, the Kent chaos strategy is employed for population initialisation to achieve a more uniform distribution. Second, the global exploration strategy from the osprey optimisation algorithm (OOA) is integrated to accelerate global convergence. Third, an optimisation mechanism is introduced to improve the algorithm’s ability to escape local optima. MATLAB simulations demonstrate that SOHSA improves efficiency by approximately 60% over SSA, with reduced average trajectory time. Additionally, comparisons with advanced algorithms and experimental validation on the NACHI- MZ07 tool-changing robot platform confirm the superiority of the proposed method.
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