仿真环境下多机器人焊接路径的优化

Multiple Robot Path Optimization under Virtual Manufacturing Environment

应用同心圆柱面对机器人活动空间进行细分 ,结合自由曲线弧的优点 ,寻找出机器人可能的焊接路径 ,提出了一种规划多机器人焊接加工路径的方法 .按照相应原则选取自由空间弧段上的节点 ,并结合图论技术 ,实现选取的机器人焊接路径的优化 .结合仿真环境进行优化算法 ,在解决多机器人碰撞问题的同时 ,大大缩短了规划时间 。

This paper described a new method to plan out the welding path of multiple robots. Dividing workcell with concentric columns, the algorithm combines characteristics of free arc to find out the possible welding paths for multiple robots. At the same time, it tries to find an optimized path by use of selecting nodes on the free arcs and linking the selected nodes. Doing this under virtual manufacturing (VM) environment with ROBCAD software, it settles free-collision and shortens the planning time sharply. This also helps to find a new development path for multiple robots.