基于Stateflow的焊接机器人协同规划策略  

Collaborative planning strategy of welding robot based on Stateflow

作　　者：李志刚 杨翔 祝林 魏成法 LI Zhigang;YANG Xiang;ZHU Lin;WEI Chengfa(School of Electromechanical and Automotive Engineering,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学机电与车辆工程学院,南昌330013

出　　处：《现代制造工程》2024年第11期60-65,79,共7页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(52265046)。

摘　　要：为了减少多焊接机器人协同规划过程的时间以及算力需求,提出了基于有限状态机理论的多焊接机器人协同规划方法。以汽车侧围总成为焊接对象,使用混合遗传-引力搜索算法(Genetic Algorithm-Gravitational Search Algorithm,GA-GSA)求解工作单元中各焊接机器人焊点分配问题,完成焊接路径规划。确认焊接过程中各焊接机器人间碰撞区域,以精确建立互斥区域,使用Stateflow工具对多焊接机器人系统进行建模与仿真。根据实际工况设置系统中各焊接机器人优先级输入以及每个焊点完成焊接任务所需时间,可得该工况下系统中焊接机器人动作最优调整方案。通过2个仿真案例验证了该方法的可行性与有效性,结果表明该方法可以快速有效地完成多焊接机器人协同规划。In order to reduce the time and computing power requirement of the collaborative planning process of multi-welding robots,a collaborative planning method for multi-welding robots based on finite state machine theory was proposed.Taking the automobile side wall assembly as the welding object,the hybrid Genetic Algorithm-Gravitational Search Algorithm(GA-GSA)was used to solve the welding joint allocation problem of each welding robot in the working cell and complete the welding path planning.The collision zone between robots during the welding process was identified to accurately establish the mutually exclusive zone,and Stateflow tool was used to model and simulate the multi-welding robots system.According to the actual working conditions,the priority input of each welding robot in the system and the time required for each welding joint to complete the welding task can be set to obtain the optimal adjustment scheme of welding robot action in the system under this working condition.Two simulation cases verified the feasibility and effectiveness of the proposed method,and the results show that the proposed method can quickly and effectively complete the collaborative planning of multi-welding robots.

关 键 词：多焊接机器人 有限状态机理论 侧围总成 协同规划 Stateflow工具 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]