基于ACO_PSO的机器人路径规划和ROBCAD运动仿真

Path Planning of Robot Based on ACO_PSO and Movement Simulation by ROBCAD

汽车焊装是汽车生产中的重要环节,目前生产人员主要依靠经验进行焊点路径规划,导致工作量大、效率低。针对这一问题,提出了用ACO_PSO混合算法计算得出合理的焊接路径,并与实际工人规划的传统路径进行比较,再与ACO算法和PSO算法的实验结果比较,从而证明该算法更优。然后在ROBCAD中建立三维仿真模型,解决了可达性、干涉等实际生产过程中的常见问题,最后计算出焊接过程所需的时间。研究结果表明,ACO_PSO混合算法对改善机器人节拍和提高生产效率有一定的帮助,进一步提出了焊接路径规划的研究重点和发展方向。

Automobile welding is a significant part of automobile manufacturing,the workers relied mainly on experience to plan paths of welding points currently,which led to heavy workload and low efficiency. To solve this problem,the reasonable welding path was obtained through ACO_PSO and which was compared with the traditional path that workers have planned,which also was compared with ACO and PSO,thus proving that the algorithm is better. Furthermore,the three-dimensional simulation model,which was built in ROBCAD,solved the reachability,interference and common problems in actual manufacturing,also calculated the time of the welding process. The research results show that the ACO_PSO made a good contribution to the improving of the robot cycle and the productivity,further put forward research priorities and developing direction of the path planning.