摘要
针对传统车身焊接机器人路径规划效率不高的问题,提出一种基于改进蝗虫优化算法(IGOA)的车身焊接机器人路径规划新方法。IGOA在蝗虫优化算法(GOA)的基础上,通过引入贝塔函数进行蝗虫种群的初始化,保证了初始种群在解空间中的分布更为均匀;通过引入非线性惯性权重实现调控参数的变化,保证了算法前后期搜索能力的平衡。通过汽车前、后车门焊接路径规划实例对方法的有效性进行了验证。结果表明,IGOA在焊接机器人路径规划中是有效可行的,相比于其它几种方法,焊接路径更短、耗时更少,且计算稳定性更强。
Aiming at the low efficiency of traditional path planning for car body welding robot,a new path planning method based on improved grasshopper optimization algorithm(IGOA)was proposed.IGOA introduced beta function to initialize the population,which ensured that the distribution of the initial population in the solution space was more uniform.In addition,by introducing the nonlinear inertial weight to realize the change of control parameters,the balance of search ability is ensured.An example of welding path planning for front and rear doors of car is given to verify the effectiveness of the method.The results show that IGOA is effective and feasible in the path planning of welding robot.Compared with other methods,IGOA can shorten the welding path and time consuming,and has stronger calculation stability.
作者
李国奎
刘永明
LI Guo-kui;LIU Yong-ming(Department of Electromechanical and Information Engineering,Sichuan College of Architectural Technology,Deyang 618000,China;School of Materiaals Science and Engneering,Hennan Univeristy of Science and Technology,Luoyang 471000,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第8期31-34,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
河南省2019年度重大科技攻关项目(2019hnzdgg0046)。
关键词
焊接机器人
路径规划
蝗虫优化算法
贝塔函数
非线性惯性权重
welding robot
path planning
grasshopper optimization algorithm
beta function
nonlinear inertial weight
