文献类型：期刊文献

英文题名：Adaptive path planning for the gantry welding robot system

作者：Wang, Xuewu[1];Xie, Zuhong[1];Zhou, Xin[1];Gao, Jin[1];Li, Fang[2];Gu, Xingsheng[1]

机构：[1]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai, Peoples R China;[2]Shanghai Jiao Tong Univ, Sch Mat Sci & Engn, Shanghai, Peoples R China

年份：2022

卷号：81

起止页码：386

外文期刊名：JOURNAL OF MANUFACTURING PROCESSES

收录：;EI(收录号：20222912372609);WOS:【SCI-EXPANDED(收录号:WOS:000864090100006)】；

基金：Acknowledgment The authors appreciate the support of National Natural Science Foundation of China (62076095, 61973120) .

语种：英文

外文关键词：Welding robot; Path planning; Collision -free; GA-IPS; Lazy PRM-TP

摘要：Group welding is one of the crucial components with difficulties in shipbuilding with irregular distribution and a great variety of welding seams. The traditional manual teaching method has drawbacks of the long development period, low efficiency, and poor welding accuracy in dealing with such weld seams in the welding process. In order to realize automation planning and welding for arc welding robot, a gantry welding robot system with adaptive path planning ability is proposed to solve the problem with various welding workpieces and position. The 3D laser scanning sensor is first adopted to identify the type and position of the workpiece. Then, the discrete genetic algorithm based on inverted pyramid structure (GA-IPS) is applied for welding sequence planning, the discrete two-stage adaptive reference direction guided evolutionary algorithm with modified dominance relation for many-objective optimization (AREA-APD) is proposed for dual-objective welding sequence planning. Furthermore, the lazy probabilistic roadmap method with transition points (Lazy PRM-TP) is applied to local trajectory planning. And the laser vision system is used to realize the precise location and tracking of the welding seam. Besides, the computer system is designed to realize human-computer interaction and process monitoring. The simulation and experiments show the superior performance of the proposed strategy.