基于混合粒子群算法的白车身焊接机器人路径优化

Path Optimization of Body-in-white Welding Robot Based on Hybrid PSO Algorithm

提出了一种由粒子群算法和遗传算法有效结合的混合粒子群算法。以某型轿车前地板线焊接工位机器人的路径规划为例,分别采用混合粒子群算法、遗传算法对机器人的焊点焊接顺序进行求解。2种算法在Matlab中的仿真优化结果表明:混合粒子群算法在求解路径优化问题上能得到更佳的焊接路径。

A new hybrid particle swarm intelligence algorithm was presented based on the particle swarm optimization(PSO)algorithm and genetic algorithm. Taking the welding station robot path planning of the first floor line for a car as an example, the hybrid particle swarm optimization algorithm and genetic algorithm were respectively adopted to solve for the solder welding sequence. The simulation op?timization results of the two algorithms in Matlab show that the hybrid PSO algorithm is more effective to solve the problem of the welding robot path optimization.