Abstract
Reasonable welding path has a significant impact on welding efficiency, and a collision-free path should be considered first in the process of welding robot path planning. The shortest path length is considered as an optimization objective, and obstacle avoidance is considered as the constraint condition in this paper. First, a grid method is used as a modeling method after the optimization objective is analyzed. For local collision-free path planning, an ant colony algorithm is selected as the search strategy. Then, to overcome the shortcomings of the ant colony algorithm, a secondary optimization is presented to improve the optimization performance. Finally, the particle swarm optimization algorithm is used to realize global path planning. Simulation results show that the desired welding path can be obtained based on the optimization strategy.
Highlights
With developments in welding technology, computer technology and robot technology, welding robots have been widely used in industrial production, especially in the automotive sector.To improve welding productivity when there are many weld joints, robot path planning needs to be studied
Environment modeling refers to the mathematical description of the environment around the welding robot, which is essential for collision-free path planning
Based on the collision free path optimization, the global welding path planning can be treated as a TSP
Summary
With developments in welding technology, computer technology and robot technology, welding robots have been widely used in industrial production, especially in the automotive sector. Obstacle avoidance is a fundamental problem in welding robot path planning. Most path planning with obstacle avoidance is obtained based on teaching mode programming. In this way, the planning process is time-consuming, and the optimum path is hard to achieve. Robot collision-free path planning based on optimization algorithms needs to be studied to improve welding efficiency. Collision-free path planning includes two stages: environment modeling and path searching, which are explained in the following paragraphs. Environment modeling refers to the mathematical description of the environment around the welding robot, which is essential for collision-free path planning. The artificial potential field method is straightforward, but some planning in complex environments.
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