摘要
针对工业机器人的运动特点并考虑机器人焊枪的避障问题,提出了较为实用的几何避障焊接路径规划策略.采用Lévy飞行与粒子群算法(PSO)相结合的算法进行全局路径规划的优化,并与其他方法进行模拟仿真比较,以验证其合理性和可行性.结果表明,Lévy-PSO算法能够得到避障焊接路径最优解,且其寻优效果较为稳定,可用于解决点焊机器人避障路径规划问题.
Considering the motion characteristics of industrial robot and obstacle avoidance of welding torch, the spot welding robot path planning with practical obstacle avoidance strategy was studied in this paper. The global path optimization was conducted based on the Levy-particle swarm optimization algorithm. The rationality and feasibility of the strategy was verified after simulation comparison with other methods. Finally, the optimal length of the welding path with obstacle avoidance was obtained by using the Levy-particle swarm optimization algorithm, which provided stable optimized results, and could be used to solve the path planning of spot welding robot.
作者
王学武
严益鑫
丁冬雁
顾幸生
WANG Xuewu YAN Yixin DING Dongyan GU Xingsheng(Key Laboratory of Advanced Control and Optimization for Chemical Processes of the Ministry of Education, East China University of Science and Technology, Shanghai 200237, China Institute of Mieroelectronic Materials and Tchnology, School of Materials Science and Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2016年第10期1517-1520,1525,共5页
Journal of Shanghai Jiaotong University
基金
上海市自然科学基金项目(14ZR1409900)
国家自然科学基金项目(61573144)资助
关键词
焊接机器人
避障
路径规划
Lévy飞行
粒子群算法
welding robot
obstacle avoidance
path planning
Levy flight
particle swarm optimization （PSO）
