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针对工业机器人的运动特点并考虑机器人焊枪的避障问题,提出了较为实用的几何避障焊接路径规划策略.采用Lévy飞行与粒子群算法(PSO)相结合的算法进行全局路径规划的优化,并与其他方法进行模拟仿真比较,以验证其合理性和可行性.结果表明,Lévy-PSO算法能够得到避障焊接路径最优解,且其寻优效果较为稳定,可用于解决点焊机器人避障路径规划问题.
Aiming at the movement characteristics of industrial robots and considering the obstacle avoidance problem of robotic welding torch, a more practical geometric obstacle avoidance welding path planning strategy is proposed.The global path planning is optimized by the combination of Lévy flight and Particle Swarm Optimization (PSO) And compared with other methods to verify its rationality and feasibility.The results show that Lévy-PSO algorithm can get the optimal solution of obstacle avoidance welding path, and the optimization results are more stable, and can be used to solve the spot welding robot obstacle avoidance Path planning problem.