基于改进粒子群算法的焊接机器人轨迹优化控制方法  

A trajectory optimization control method of welding robot based on improved particle swarm optimization

作　　者：许曦 熊禾根[1] 陶永[2] 谢先武 刘辉[2] 孙柏树 Xu Xi;Xiong Hegen;Tao Yong;Xie Xianwu;Liu Hui;Sun Baishu(School of Mechanical Automation,Wuhan University of Science and Technology,Wuhan 43000;School of Mechanical Engineering and Automation,Beihang University,Beijing 10019;Northwest Industry Group Co.,Ltd.,Xi＇ an,710043)

机构地区：[1]武汉科技大学机械自动化学院,武汉430081 [2]北京航空航天大学机械工程及自动化学院,北京100191 [3]西北工业集团有限公司,西安710043

出　　处：《高技术通讯》2018年第5期425-433,共9页Chinese High Technology Letters

基　　金：科技部支撑计划(2015BAF01B03);北京智能机器人与系统高精尖创新中心(2016IRS11)资助项目

摘　　要：面向6自由度弧焊工业机器人的优化控制,对机器人的可达性、奇异性和避免碰撞等约束进行分析,提出约束条件来进行建模,建立了弧焊机器人的参数化运动学模型,在此基础上提出一种基于改进PSO优化算法的弧焊机器人轨迹优化控制方法,满足给定的约束条件,使得弧焊机器人在一定的机座位置优化焊接作业轨迹,以更加精确地完成焊接作业。最后,通过仿真和实验验证所提算法的有效性。An optimization control method of six degree of freedom welding robot is proposed. The robot＇s accessibility,singularity and collision avoidance operation constraints are analyzed. The operational constraints of robot are proposed to build the model. The parametric kinematics model of arc welding robot is established. A new trajectory optimization control method based on improved PSO algorithm is proposed. The method satisfies the given constraints,so that the arc welding robot can optimize the welding operation track at a certain base position to finish the welding work more accurately. Finally,the validity of the proposed algorithm is verified by simulation and experiment.

关 键 词：改进粒子群算法(IPSO) 轨迹优化 弧焊机器人 逆运行学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]