基于莱维飞行粒子群算法的焊接机器人路径规划

Welding robot path planning based on Levy-PSO

焊接机器人在工业上被广泛应用,焊接的任务规划直接关系到制造效率的提高.点焊机器人路径规划在仅考虑路径长度时可以简化为焊接顺序的优化问题,即旅行商问题.考虑到旅行商问题是NP完全问题,且是离散问题,提出一种结合莱维飞行的粒子群算法并对其进行离散化以求解此类路径优化问题.焊接机器人路径规划仿真结果验证了所提出方案的合理性和可行性.

Spot welding is widely used in the modern industry, and task planning of welding is directly related to the improvement of manufacturing efficiency. When the path length is considered as the optimization objective, the path planning of the spot welding robot can be simplified as the optimization of the welding sequence that is the traveling salesman problem. Considering the traveling salesman problem is the NP complete problem and the discrete problem,the Levy-PSO algorithm is presented to obtain the optimal solution of the welding path through the study of the discrete Levy flight and the discrete PSO algorithm. The rationality and feasibility of the scheme are verified through the welding robot path planning simulation.