冗余度弧焊机器人位置优化建模及算法

Optimal path modeling for redundant robot based on genetic algorithm

关键词:  冗余度弧焊机器人  路径规划  遗传算法

Key words:  redundant welding robot  path planning  genetic algorithm

摘要:

围绕大型冗余度(11自由度)机器人工作站的路径规划,提出龙门架机座的位置优化问题,分析并建立了该问题的多目标优化数学模型。采用遗传算法为优化方法,建立了问题的适应度函数,并提出一种动态系数法解决多目标优化问题,基于C++和matlab混合编程设计实现机器人机座优化的遗传算法程序,基于该算法进行了仿真试验验证,试验基于3自由度龙门架和6自由度机器人,焊接某工件上两圆管垂直相贯形成马鞍形空间焊缝。结果表明,通过该算法可以快速找到机器人机座接近目标最优解,提出的多目标优化函数和算法保证了机器人关节运动平稳性。

Abstract:

To solve the optimizing problem of the path planning of robot with eleven degree-of-freedom, a multi-object mathematical model and solution plan has been proposed and analyzed. Using genetic algorithm as optimizing method, a adapive degree function was built.The suitable parameter was obtained through lots of practices.The genetic algorithm procedure was designed and realized. Based on this algorithm, optimizing experiments were carried out based on typical space transversal weld by using under 3 degreeof-freedom gantry and 6 degree-of-freedom robot.Results of experiments indicate that the suitable solution can be quickly found through the algorithm.This algorithm was simulated and also loaded to robot controller to do welding experiments.And the results show that robot joints move steady under the best position of robot placement and good welds have been acquired.It shows this method is correct and feasible.