Pose Optimization Method for Cylindrical Part Docking based on SOMA-NSGAII

In the context of assembling and docking cylindrical parts characterized by large dimensions, susceptibility to deformation, and heavy loads, pose planning is a crucial prerequisite for effectively controlling alignment mechanisms. It holds significant importance in improving docking precision and enhancing efficiency. Current research in pose planning often focuses on single research objectives, whereas in the assembly and docking of cylindrical parts, it is essential to consider a holistic approach that encompasses efficiency, motion smoothness, and motion complexity. In this engineering context, this study investigates a pose planning method for assembling and docking cylindrical parts based on fifth-order spline curves. Subsequently, a multi-objective optimization model is established, using total alignment time, jerk, and alignment motion complexity as objective functions. To address the issue of NSGA-II algorithm's susceptibility to local optima in high-dimensional problems, a self-organizing migration strategy is proposed, enhancing its global search capabilities. Finally, experimental analysis is conducted to validate the proposed method. The obtained Pareto solution set demonstrates superior diversity and uniformity. Additionally, the effectiveness of the generated pose trajectories is verified.