双机器人松协调焊接过程无碰路径规划

Collision-free path planning of double robots welding process under loose coordination

关键词:  双机器人焊接  局部坐标系  无碰路径  遗传算法

Key words:  double robots welding  local coordinate system  collision-free path  genetic algorithm

摘要:

针对两台机器人在同一工作区间进行焊接工作可能发生碰撞的问题,提出一种基于"假设修正"策略和遗传算法的无碰路径规划方法. 利用球体和圆柱体建立机器人包络模型,根据空间几何理论求出包络模型之间最短距离解析式. 以理想约束条件,得到假设路径. 建立与弧焊焊接质量、点焊最短路径等相关的适应度函数,通过遗传算法搜索出无碰位形. 以螺柱焊接工位为实例,运用仿真软件进行无碰路径规划工作. 结果表明,方法正确可行,为双机器人规划出优质无碰焊接路径.

Abstract:

Aimed at solving the problem of double welding robots collision in the same workspace, this research presented a method of collision-free path planning based on assuming correction strategy and genetic algorithm. Envelope model of robot was established with sphere and cylinder, and the analytical expression of shortest distance between two robots was calculated in local coordinate system using space geometry principle. An assuming path was given by ideal constraint's condition, the planning of arc welding process and the shortest distance between solder joints. Fitness function was related to the quality of arc welding, the shortest distance of spot welding, the shortest distance between two robots, the range of joints. Genetic algorithm was used to search for safe configuration. Taking stud welding station an example, this paper did collision-free path planning and emulation experiments with MATLAB and DELMIA software. The method was proved correct and feasible, planning a quality and safe path for double robots.