摘要
针对船舶中小组立机器人焊接路径规划问题,提出一种基于点位分类结合快速搜索随机树的焊接路径规划方法。该方法根据工程实践将路径上的关键点位进行分类,使用随机树扩展点位之间的节点,并根据点位类型确定轨迹点需满足的约束条件,以此构建出完整的焊接路径。为验证该方法的有效性,使用Python编写的仿真程序分别模拟无障碍及有障碍环境中的路径规划效果,证明无论有无障碍均可生成焊接路径并且生成的路径可顺利避开障碍物。仿真结果表明,该方法可用于机器人焊接路径规划。
In view of the problem of robot welding path planning in ship sub-assembly and unit assembly,a welding path planning method based on the point-position classification combined with the fast searching random tree is proposed.With the method,the key point-positions on the path are classified according to the engineering practice,the random tree is used to expand the nodes between the point-positions,and the constraint conditions that the trajectory points need to meet are determined according to the point-position types,so as to construct a complete welding path.In order to verify the effectiveness of the method,a simulation program written by Python is used to simulate the path planning effect in the barrier-free environment and barrier environment respectively,which proves that the welding path can be generated with or without the barriers and the generated path can avoid the barriers smoothly.The simulation results show that the method can be used for the robot welding path planning.
作者
祁超
喻天祥
刘坚
王冬梅
成宇韬
QI Chao;YU Tianxiang;LIU Jian;WANG Dongmei;CHENG Yutao(Shanghai Shipbuilding Technology Research Institute,Shanghai 200032,China)
基金
工信部高技术船舶项目:船舶分段智能制造装备解决方案及关键共性技术研究(编号:MC-201906-Z01)。
