文献类型：期刊文献

英文题名：Welding Robot Collision-Free Path Optimization

作者：Wang, Xuewu[1];Xue, Lika[1];Yan, Yixin[1];Gu, Xingsheng[1]

机构：[1]East China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Minist Educ, Shanghai 200237, Peoples R China

年份：2017

卷号：7

期号：2

外文期刊名：APPLIED SCIENCES-BASEL

收录：;WOS:【SCI-EXPANDED(收录号:WOS:000395488900002)】；

基金：The authors appreciate the support of the Shanghai Natural Science Foundation (14ZR1409900) and the National Natural Science Foundation of China (61573144, 61673175).

语种：英文

外文关键词：welding robot; path planning; collision-free; ant colony algorithm; particle swarm optimization algorithm

摘要：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.