Path Planing For Cooperative Welding Of Dual Robots Methodological Research

Body-in-white welding is an important part of automobile production,and the choice of welding path has a direct impact on automobile production efficiency.With the application of welding robot as the main tool of body-in-white welding,it is very important to plan the welding path of spot welding robot reasonably in view of the complex structure of body and the increasing scale of welding spots.In this paper,the complex welding path planning problem of single welding robot and the collaborative operation problem of two welding robots are studied for body-in-white.Firstly,the path planning method of single welding robot is studied.According to the task requirements of spot welding robot,the welding task is mapped to the business travel problem(TSP),and the path planning mathematical model of single welding robot is constructed.The characteristics of ant colony algorithm(ACO)are studied,and an improved ant colony algorithm(EGA)based on elite and evolutionary ideas is proposed.The characteristics of particle swarm optimization(PSO)are studied,and an improved particle algorithm(CHPG)based on chaos and evolution is proposed.Aiming at the instability of convergence of EGA algorithm and the lack of optimization ability of CHPG algorithm,a swarm intelligence fusion algorithm based on chaos optimization(CHAPG)is proposed.Three different scale examples are selected in TSPLIB standard library,and the algorithm is simulated by MATLAB platform.The optimal value,average value,standard deviation,average convergence times and average convergence time are taken as indexes to analyze the algorithm convergence.The experimental results show that the proposed CHAPG algorithm has excellent optimization ability.Secondly,the collaborative path planning method of dual welding robots is studied.According to the task requirements of dual welding robots,the cooperative welding task is mapped to a Multiple Traveling Salesman Problem(MTSP),and an anti-interference strategy is introduced to construct a dual robot path planning mathematical model.The K-Means algorithm welding spots assignment model with evaluation function and the welding spots assignment model based on co-evolution idea are proposed.The CHAPG algorithm is applied to optimize the welding path of two robots and the simulation of body-in-white welding is carried out.The experimental results show that the proposed joint assignment model based on co-evolution can get better welding paths.Finally,three-dimensional simulation is carried out in ROBCAD.The body-in-white,robot and welding torch are imported into ROBCAD,and the dual welding robot workstation is established in ROBCAD.The data of welding spots are imported into the body-in-white,and the welding spots paths are sorted and optimized,the reachability of welding spots and the interference of welding robot are simulated to verify the feasibility of the collaborative path planning algorithm.The simulation results show that the collaborative path planning algorithm proposed in this paper has good global search ability and optimization ability.It has a certain guiding significance and practical application value for the path planning of dual welding robot.