双焊接机器人协同路径规划研究

针对白车身侧围双机器人协同焊接路径任务,对焊接路径规划算法进行研究,提出一种基于蚁群粒子群的融合算法。首先,建立单机器人焊接模型,将焊接任务转换为TSP问题,采用提出的融合算法优化TSP问题并与多种路径规划算法进行对比分析,证明所提出算法的优越性;其次,根据焊接任务将双机焊接转换为MTSP问题,依据约束条件,将MTSP转换为多个TSP问题,利用焊接路径之间的关系更新焊点,完成双机器人协同焊接模型建立,在MATLAB中得到路径规划的结果;最后,在ROBCAD中建立双机器人焊接工作站,对规划结果进行仿真验证。实验结果证明,所提出的融合算法对于双焊接机器人路径规划具有一定的指导作用。

Research on Cooperative Path Planning of Double Welding Robot

Aiming at the task of co-weld path planning of double robot with white body, the algorithm of weld path planning is studied, and a fusion algorithm based on ant swarm particle swarm is proposed. Firstly, a single robot welding model is established, and the welding task is transformed into TSP problem. The proposed fusion algorithm is used to optimize the TSP problem and compared with several path planning algorithms to prove the superiority of the proposed algorithm. Secondly, according to the welding task, the dual-machine welding is transformed into MTSP problem. According to the constraint conditions, the MTSP is transformed into multiple TSP problems. The solder joint is updated by the relationship between the welding paths, and the cooperative welding model of the dual-robot is established, and the result of path planning is obtained in MATLAB. Finally, a dual robot welding workstation is established in ROBCAD, and the planning results are verified by simulation. The experimental results show that the proposed fusion algorithm can guide the path planning of dual-welding robot.