Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste

来源 :国际自动化与计算杂志(英文版) | 被引量 : 0次 | 上传用户:gwbn9
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
The recycling of construction and demolition waste (CDW) remains an urgent problem to be solved.In the industry,raw CDW needs to be manually sorted.To achieve high efficiency and avoid the risks of manual sorting,a sorting robot can be designed to grasp and sort CDW on a conveyor belt.But dynamic grasping on the conveyor belt is a challenge.We collected location information with a three-dimensional camera and then evaluated the method of dynamic robotic grasping.This paper discusses the grasping strategy of rough processed CDW on the conveyor belt,and implements the function of grasping and sorting on the recycling line.Furthermore,two new mathematical models for a robotic locating system are established,the accuracy of the model is tested with Matlab,and the selected model is applied to actual working conditions to verify the sorting accuracy.Finally,the robot kinematics parameters are optimized to improve the sorting efficiency through experiments in a real system,and it was concluded that when the conveyor speed was kept at around 0.25 m/s,better sorting results could be achieved.Increasing the speed and shortening the acceleration/deceleration time would reach the maximum efficiency when the load would allow it.Currently,the sorting efficiency reached approximately 2 000 pieces per hour,showing a high accuracy.
其他文献
The aim of this study is to investigate the performance and reliability of urethral valve driven by ultrasonic-vaporized steam.The performance model of urethral
我省是全国的大豆之乡,在省内大豆又是主要作物,长期以来就肩负着国家外贸出口的重大任务,因而积极发展大豆生产,对支援国家社会主义建设,提高人民生活水平和外贸出口,都具
直播是本县油菜的主要种植方法,占常年种植面积18~20万亩的95%左右,油菜籽亩产在100公斤左右徘徊,为探讨稻茬直播油菜亩产250公斤以上栽培技术,在前试验基础上,于1986年进一步
情感因素、文化因素、"大学新生"因素和同伴控制因素是影响同伴反馈效果的四个重要因素。对中部某高校大一写作实验班学生进行同伴反馈的实证研究表明,同伴反馈会在学生知识
近30年的摄影工作,累积20多万张图像数据,成为行脚台湾、触角世界,地球村化概念的影像数据库,也当作人类文化资产纪录存盘,进而做为数字影像、阅图时代来临的视觉语言应用。
展会简介:背景:WaterEx北京水展是有近半个世纪成功经验的世界领先水展品牌AQUATECH针对中国北方市场特点而创立的区域性专业水展。现状:三年的积累,WaterEx北京水展已发展至
Since traditional fault tolerance methods of electronic systems are based on redundant fault tolerance technique,and their structures are fixed when circuits ar
1984—1986年连续三年进行了甘薯区域试验,第一年6个试点,第二年10个、笫三年9个试点,结果综合简报如下: 试验方法参试品种桂薯72—105,桂薯74—362,徐薯18,晋薯70—13,莆薯
This paper proposes a novel less-conservative non-monotonic Lyapunov-Krasovskii stability approach for stability analysis of discrete time-delay systems.In this
一、试验方法及材料供试材料共321份,分别种于网室和田间两个鉴定圃。 1.网室鉴定圃:供试重点高代材料共71份,于11月20日播种,每品种播2行,每20个品种设苏麦3号、扬麦1号一