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点焊机器人在汽车白车身焊接中的应用大大提高了企业的生产效率,本文从焊接路径长度和能量两方面进行焊接机器人多目标路径规划.为了很好地解决这个问题,本文对一种新型多目标粒子群算法(三态协调搜索多目标粒子群优化算法)进行改进,得到适合于求解离散多目标优化问题的离散化三态协调搜索多目标粒子群算法(DTC-MOPSO).通过和两个经典的优化算法比较,DTC-MOPSO算法在分散性和收敛性方面都有很好的优化性能.最后运用Matlab机器人工具箱对机器人的运动学、逆运动学以及逆动力学进行分析以求解机器人的路径长度和能耗,并将改进的算法应用于焊接机器人路径规划中,结果显示规划后的路径明显优于另外两种算法.
The application of spot welding robot in vehicle body welding greatly improves the production efficiency of the enterprise.This paper solves the multi-objective path planning of welding robot from the aspects of welding path length and energy.In order to solve this problem well, (PSO) algorithm to improve the DTC-MOPSO (Multi-objective Particle Swarm Optimization Algorithm), which is suitable for solving discrete multi-objective optimization problems. Compared with the classical optimization algorithm, the DTC-MOPSO algorithm has good performance in both dispersion and convergence.At last, the kinematics, inverse kinematics and inverse kinematics of the robot are analyzed by Matlab robot toolbox to solve the problem of robot Path length and energy consumption, and apply the improved algorithm to welding robot path planning. The results show that the planned path is obviously better than the other two algorithms.