摘要
点焊机器人在焊接过程中通常要遍历很多焊点,如何规划焊接机器人的焊接路径已经成为焊接工艺的研究重点之一。当焊点数量达到一定程度时,使用传统的方法很难找到最优路径。焊接机器人的路径规划指标有很多,一般以路径距离最短或时间最少居多。以焊接路径距离最短为规划目标,利用改进的分区粒子群算法对焊接机器人的焊点路径进行规划,仿真结果验证了该方法的可行性。
Since spot welding robots in welding processes usually have to traverse many solder joints, a key technology is how to plan the welding robot path. For the case that the number of solder joints reaches a certain quantity, it is difficult to use traditional methods to find an optimal path for spot welding robot. There are many indicators in welding robot path planning, such as shortest path distance, minimal welding time. Basing on the shortest distance, this paper proposes an improved partition PSO algorithm for welding robot path planning. The simulation results show the feasibility of the proposed method.
出处
《华东理工大学学报（自然科学版）》
CAS
CSCD
北大核心
2014年第5期639-645,共7页
Journal of East China University of Science and Technology
基金
上海市自然科学基金(14ZR1409900)
上海市科委基础研究重点项目(12JC1403400)
国家重大科学仪器设备开发专项项目(2012YQ15000105)
