基于遗传算法的白车身机器人焊接路径规划

Robot Welding Route Planning in CarBody Welding Process Based on Genetic Algorithm

摘要:

分析了轿车白车身制造过程中机器人拼焊工位焊接路径规划的特征,将焊点与机器人的工具原点抽象为空间点,根据图论理论建立各点的关系图.将约束条件转化为局部有向关系矩阵,以机器人空间运动最短距离为目标,建立货郎担问题数学模型,利用遗传算法求解.依据关系矩阵产生合法初始种群,并确定选择、交叉、变异等遗传算子,以MATLAB语言编程计算.行李箱盖补焊工位焊接路径规划结果表明，该方法能够对机器人焊接路径合理规划,规划方案已成功用于工程实际.

Abstract:

A genetic algorithm combined with graph theory was proposed for solving the problem of welding route planning in car bodyinwhite manufacture.By regarding the welding point and tool center point frame as spatial point to establish relationship graph,transforming constraint factors into directed relationship matrix and using minimum motion distance of welding gun as object function,a traveling salesperson problem model was established.Generation of legal initial population and processing of selection,cross and mutation genetic operators were based on directed relationship matrix.MATLAB language was used to program.Taking the welding route planning of the deck lid repair welding station as example,planning result shows that welding route is reasonable and this scheme has been implemented successfully in engineering.