多机械臂协同作业采摘规划方法OA

To improve the cooperative operation efficiency of multi-arm picking robots in Xinjiang cotton fields,the task planning of multi-arm cooperative picking robots was analyzed,and the task planning problem was formulated as new traveling salesman problem.The optimization method based on the three-arm sparrow search algorithm was proposed.The experimental results show that for solving the problem of picking cotton bolls with the same distribution and quantity,the proposed task planning method reduces the operation traversal time by 84.18％compared to the single-arm sparrow search algorithm,and the traversal time of single robotic arm is approximate 6.32 times that of the proposed method.The task planning method based on the three-arm sparrow search algorithm can coordinate the operation tasks of the multi-arm picking robot system,avoid collisions between arms,traverse all cotton bolls in shorter time and improve operation efficiency.