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双焊接机器人避障路径规划
汤彬,王学武,薛立卡,顾幸生
0
(华东理工大学化工过程先进控制和优化技术教育部重点实验室, 上海 200237)
摘要:
针对白车身双机器人同步焊接路径规划问题,采用栅格法建立双机器人同步焊接模型。首先通过改进蚁群算法和粒子群算法实现焊接机器人与工件之间的避障;其次通过C空间法实现两个焊接机器人无碰撞,求解出局部和全局最优焊接路径较好的近似解,并与标准蚁群和粒子群算法进行仿真对比实验。仿真结果表明,采用改进蚁群算法和带有交叉因子的粒子群算法,收敛速度较快,较其他算法更能缩短焊接工时。仿真结果验证了笛卡尔空间和C空间结合路径规划方法的可行性,对于双焊接机器人的路径规划具有指导意义。
关键词:  双焊接机器人  避障  路径规划  C空间
DOI:10.14135/j.cnki.1006-3080.2017.03.019
投稿时间:2016-09-28
基金项目:上海市自然科学基金(14ZR1409900);国家自然科学基金(61573144)
Dual-Welding Robots Collision-Free Path Planning
TANG Bin,WANG Xue-wu,XUE Li-ka,GU Xing-sheng
(Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China)
Abstract:
Aiming at the robot path planning problem in the synchronous welding of white car body,this paper proposes a grid method to establish the mathematical model of double synchronous welding robot.Firstly,an improved ant colony algorithm and a modified particle swarm optimization algorithm with crossover operator (MPSO) are made to realize the collision-free between welding robots.And then,the C space method is used to attain the collision-free between robots.Moreover,the better local and global paths are obtained and the comparing experiment is also made with standard ant colony algorithm and PSO algorithm.The result shows that the proposed MPSO has quicker convergence and shorter welding time.Finally,the simulations verify the feasibility of the proposed scheme for the dual-welding robots path plan.
Key words:  dual-welding robots  collision-free  path planning  C space

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