装配机器人加工站位设置混合优化算法

A Hybrid Optimization Algorithm for Working Position Setting of Assembling Robot

为了降低生产成本,提高生产效率,装配机器人开展加工作业需要优化设置加工站位以减少机器人数量或机器人转换加工站位的次数。提出一种结合聚类算法与模拟退火算法的加工站位设置混合优化算法。首先通过聚类算法合并可在相同站位下加工的加工对象以减小问题规模,然后采用多解并行搜索模拟退火算法优化选择加工全部加工对象所需的最少加工站位。实际测试表明该算法能够在显著改善优化结果的同时大幅提高算法收敛的速度。

In order to reduce production cost and increase productive efficiency, working positionsof assembling robots need to be optimized to reduce the number of robots and the times of changingworking positions. A hybrid optimization algorithm combining clustering algorithm and simulatedannealing algorithm was proposed to optimize working positions of robots. Firstly, processingobjects with common available working positions of robots were clustered by the clusteringalgorithm in order to reduce the scale of the problem. Then, a simulated annealing algorithm withmulti-solution parallel search was employed to search for the minimum working positions of robotsavailable for processing all objects. Testing results show that this algorithm is capable of improvingoptimization result significantly as well as accelerating the convergence of the algorithmremarkably.