冗余自由度弧焊系统运动规划方法研究

Motion Planning of Arc Welding System with Redundancy

深入研究了冗余自由度弧焊系统运动规划方法。综合考虑了关节运动位置指标、焊接位置指标、焊枪姿态指标、运动平稳性指标、避碰指标、灵活性指标等多项指标,采用多性能指标融合控制法对运动规划问题建立数学优化模型,并运用新兴的差分进化算法对其进行了求解。最后针对空间相贯线焊缝在十一轴冗余自由度弧焊系统中进行了运动规划仿真实验。

Motion planning of arc welding system with redundancy has been researched.Multiple criteria are considered, such as the constraint of joint motion position,welding position,orientation of the welding torch,motion stability,collision avoid- ance,flexibility,etc.Then the mathematical optimization model for the motion planning probrem is established with the method of incorporating multiple criteria.