基于多目标遗传算法的双机器人协调焊接路径规划  

Path Planning for Dual-robot Coordinate Welding Based on Multi-objective Genetic Algorithm

作　　者：侯仰强 王天琪[1] 岳建锋[1] 贾振威 HOU Yangqiang;WANG Tianqi;YUE Jianfeng;JIA Zhenwei(Advanced Mechatronics Equipment Technology Tianjin Area Laboratory,Tianjin Polytechnic University,Tianjin,300387)

机构地区：[1]天津工业大学天津市现代机电装备技术重点实验室,天津300387

出　　处：《中国机械工程》2018年第16期1984-1989,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(U1733125);天津市自然科学基金资助项目(17JCZDJC38700)

摘　　要：对双机器人协调焊接复杂空间焊缝路径规划问题进行研究,提出了一种基于多目标遗传算法的焊接路径规划方案。通过分析影响焊缝质量及机器人运动平稳性的各参数,建立了评价焊接路径的目标函数:焊接质量函数、机器人运动平稳性函数以及双机器人碰撞函数。利用多目标遗传算法对协调焊接路径进行求解,实现对双机器人最佳焊接路径的规划。以"马鞍形"空间焊缝为例,对双机器人协调焊接路径进行了试验验证。结果表明,该方案可实现双机器人协调焊接路径的规划。A welding path planning method was proposed by studying the path planning problems of dual-robot coordinated welding of complex spatial welds based on multi-objective genetic algorithm.Parameters of affecting the weld's quality and the stability of robot's movement were analyzed,and the objective function of the evaluation of welding paths such as welding quality function,collide with dual-robot and robot motion stability function were established.A multi-objective genetic algorithm was used to solve the coordinated welding paths,and the optimal welding path planning of the dual-robot was realized.Taking the“saddle shaped”space seam as an example,the welding paths of 2 robots were tested and verified.The results show that the proposed scheme may realize the planning of dual-robot coordinated welding paths.

关 键 词：多目标遗传算法 双机器人 焊接 路径规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]