Multi-Robot Welding Dynamic Cooperating Programming of Vehicle Door Panel Interior Trim
In order to reduce the path length of multi robot cooperative welding and improve the load balance between robots,a cooperative welding planning method based on dynamic programming individual difference evolutionary genetic algorithm is pro-posed.Taking the path length and load balance degree of multi robot cooperative welding as the optimization objectives,the opti-mization model is established,and the constraints of cooperative welding are analyzed.Aiming at the welding path planning problem of single robot,aiming at the difference of chromosome evolution ability in genetic algorithm,an individual difference evolution rate is proposed,and a path planning method based on individual difference evolution genetic algorithm is given.Aim-ing at the multi robot cooperative welding problem,it is divided into three sub problems by dynamic programming,and the multi robot cooperative welding task allocation and path planning are realized.Through the verification of the solder joint path plan-ning of the front door of an automobile,the optimal length and average length of the path planned by the individual difference evolutionary genetic algorithm are better than the traditional genetic algorithm;It is verified by 4 Robots Cooperative welding of the back door solder joint that the path length and load balancing degree of this method are better than the discrete particle swarm optimization algorithm in reference[11]under the condition of meeting the interference free constraint.Experiments show the superi-ority of this method in multi robot cooperative welding allocation and planning.
NETL
NSTL
万方数据
维普
