点焊机器人轨迹能耗模型及其优化算法研究

Study on Energy Consumption Model and Its Optimization Algorithm for Spot Welding Robot Trajectory

提出一种点焊机器人最优能耗轨迹优化方法,将机器人关节空间中的关键点用五次多项式曲线连接,并基于机器人动力学建立了永磁交流伺服电机驱动的点焊机器人轨迹能耗模型。在考虑运动学、动力学及生产周期约束的情况下,采用蜜蜂进化型遗传算法求解了点焊机器人最优能耗轨迹。为保证算法全局寻优和收敛速度,构建了一种非线性适应度函数。仿真结果表明,与之前算法相比,求解效率更高,且最优能耗轨迹较最短时间轨迹能耗明显减少。

An approach for optimal trajectory planning of spot welding robot mampulators was presented. By linking two points in joint space with quintic polynomial curves, energy consumption mathematical model of spot welding robot trajectory driven by permanent magnet synchronous motor （PMSM） was established based on industrial robots dynamics. The method for searching for the opti- mal spot welding robot trajectory based on BEGA was put forward by taking consideration of the con- straints of robot kinematics, dynamics and the production cycle. In order to ensure the early global op- timization and late stage convergence speed of the algorithm, the nonlinear algebraic fitness function was proposed. By contrast with the shortest time trajectory optimization, the results indicate that en- ergy consumption of the energy optimal trajectory is reduced significantly and it also can obtain better solution in comparison with other methods.