Abstract For spot welding task, reasonable welding path is useful for welding efficiency improvement. Obstacle avoidance is essential for safe welding, and energy consumption is another factor needed to be considered in the process of welding robot path planning. The shortest path length and energy consumption are considered as optimization objectives, and obstacle avoidance is set as the constraint condition in this article. After analysis of geometric obstacle avoidance strategy, energy consumption, and robot path length, the multi-objective welding path optimization model is given first. Then, the clustering guidance multi-objective particle swarm algorithm (CG-MOPSO) is presented. At last, the improved algorithm is applied to realize the welding robot path optimization, and the algorithm effectiveness is verified through the Pareto optimal solution.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Collision Free Path Planning for Welding Robot Based on CG-MOPSO


    Beteiligte:
    Wang, Xuewu (Autor:in) / Yan, Yixin (Autor:in) / Gu, Xingsheng (Autor:in)


    Erscheinungsdatum :

    2017-01-01


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Collision Free Path Planning

    Güvenç, Levent / Aksun‐Güvenç, Bilin / Zhu, Sheng et al. | Wiley | 2021


    Optimal collision-free path planning of a free-floating space robot using spline-based trajectories

    Rybus, Tomasz / Wojtunik, Mateusz / Basmadji, Fatina Liliana | Elsevier | 2021




    SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

    Ravankar, Abhijeet / Ravankar, Ankit A. / Kobayashi, Yukinori et al. | BASE

    Freier Zugriff