武汉工程大学学报2026，Vol.48Issue(2)：216-221,6.DOI:10.19843/j.cnki.CN42-1779/TQ.202505009
基于轨迹优化的焊接机器人多领域耦合仿真
Multi-domain coupling simulation of welding robots based on trajectory optimization
摘要
Abstract
To address limitations of single-system modeling in welding robots such as significant deviations from actual performance and limited local optimization,in this paper we proposed a trajectory optimization and multi-domain coupling modeling method for welding robots based on the grey wolf optimizer(GWO)algorithm.First,a multi-domain coupling model was built using the Modelica language,integrating mechanical,electrical and control systems.Bidirectional energy flow and information exchange among subsystems were achieved via connectors and converters.Second,a trajectory optimization module was embedded into the multi-domain coupling model to construct a high-fidelity virtual environment,which accurately simulated the real-world operation of the welding robot,thereby providing a high-precision test platform for the trajectory optimization algorithm.Finally,simulation experiments were carried out using the GWO algorithm.Results showed that the operation time of the straight trajectory and the curved trajectory are reduced by 71.60%and 26.25%respectively,verifying the effectiveness of the proposed approach.Compared with conventional single-system modeling of welding robots,the method proposed offers high simulation accuracy and enhanced system optimization capabilities.关键词
多领域耦合建模/Modelica/轨迹优化/灰狼优化算法Key words
multi-domain coupling modeling/Modelica/trajectory optimization/grey wolf optimizer分类
信息技术与安全科学引用本文复制引用
赵康康,梅再武..基于轨迹优化的焊接机器人多领域耦合仿真[J].武汉工程大学学报,2026,48(2):216-221,6.基金项目
武汉东湖高新区"揭牌挂帅"项目(2024KJB325) （2024KJB325）
武汉工程大学研究生教育创新基金(CX2024425) （CX2024425）
