汽车白车身多机器人焊接路径规划策略

Multi-robot Welding Path Planning Strategy for Automotive BIW

多台焊接机器人同时焊接白车身时,一般会有单条路径焊接避障、多条路径相互碰撞的问题产生。人工机械地解决路径间的避障碰撞问题需耗费许多时间和精力,且为后续的干涉区设置的难易程度埋下隐患。针对此,以焊点分配、路径长度、多机器人焊接节拍相近且不超最大节拍为目标,建立基于多背包问题的多机器人焊点分配模型,采用蚁群算法实现机器人局部路径避障,结合协同进化混合粒子群算法,解决多机器人路径间相互碰撞的问题。

When multiple welding robots weld the white body at the same time,there are generally problems with interference within a single path and between multiple robot paths.Mechanically solving obstacle avoidance collision problems between paths by humans requires a lot of time and effort,and lays hidden dangers for the difficulty of setting up subsequent interference zones.In response to this,this paper aims at similar solder joint distribution,path length,and multi robot welding rhythms while not exceeding the maximum rhythm,and establishes a multi robot solder joint distribution model based on the multi knapsack problem.Ant colony algorithm is used to realize robot local path obstacle avoidance,and the co-evolutionary hybrid particle swarm algorithm is used to solve the problem of collision between multiple robot paths.