信息与控制2016，Vol.45Issue(6)：713-721,9.DOI:10.13976/j.cnki.xk.2016.0713
基于DTC-MOPSO算法的焊接机器人路径规划
Welding Robot Path Planning Based on DTC-MOPSO Algorithm
摘要
Abstract
The application of spot welding robots to automobile body-in-white welding has greatly improved the production efficiency of automobiles.Multi-objective welding robot path planning focusing on path length and energyoptimization is solved.To solve the problem,after a new multi-objective particle swarm optimization algorithm (multiobjective paaical swarm optimization algorithm based on three status coordinating searching,TC-MOPSO) is improved,a discrete multi-objective particle swarm optimization algorithm based on three status coordinating searching (DTC-MOPSO) is presented to solve the discrete multi-objective optimization problem.Compared with two classical multi-objective optimization algorithms,high competition in terms of convergence and diversity metrics of the DTC-MOPSO algorithm is proved.In addition,MATLAB toolbox robotics is used to analyze a robot's kinematics,inverse kinematics,and inverse dynamics to obtain the path length and energy consumption.The improved algorithm is used to optimize welding robot path planning,and the result is obviously superior to the other algorithms.关键词
路径规划/焊接机器人/多目标/粒子群优化算法Key words
path planning/welding robot/multi-objective/particle swarm optimization(PSO) algorithm分类
信息技术与安全科学引用本文复制引用
薛立卡,王学武,顾幸生..基于DTC-MOPSO算法的焊接机器人路径规划[J].信息与控制,2016,45(6):713-721,9.基金项目
上海市自然科学基金资助项目(14ZR1409900) （14ZR1409900）
上海市科委基础研究重点资助项目(12JC1403400) （12JC1403400）
