Welding robot welding path planning method based on discrete particle swarm optimization

Abstract

The invention discloses a welding robot welding path planning method based on discrete particle swarm optimization. The method comprises the steps of: (1) building a mathematical model of a path of a welding robot; (2) building a model of particle swarm optimization; (3) analyzing behavior parameters solved by the particle swarm optimization; (4) planning the path of the welding robot by the particle swarm optimization; and (5) outputting optimal path. The method adopts the particle swarm optimization; and through setting of different inertia weight formulas, the self-adaption adjusting capacity of the particle swarm optimization is improved, so that the purpose of balancing local search capacity and global search capacity of the particle swarm optimization is achieved, and the optimal solution is searched quickly by the particle swarm optimization.

Description

technical field [0001] The invention relates to the technical field of welding robots, in particular to a welding path planning method for a welding robot based on a discrete particle swarm algorithm. Background technique [0002] With the deepening of research on industrial robot technology, robot technology is becoming more and more mature, and it is becoming an important part of automated production lines, rescuing workers who are engaged in harsh environments and complicated manual labor. Welding robots are engaged in welding processing. Unwanted problems often occur during the welding process, such as the shaking of the end of the welding torch when the robot starts and stops, sometimes accompanied by severe vibration of the robot body, and it cannot move accurately to the specified position during welding. The position of the welding spot, the inaccurate welding path during arc welding, etc., the occurrence of these welding problems cannot meet the requirements of weld...

AI Technical Summary

Problems solved by technology

Welding robots are engaged in welding processing. Unwanted problems often occur during the welding process, such as the shaking of the end of the welding torch when the robot starts and stops, sometimes accompanied by severe vibration of the robot body, and it cannot move accurately to the specified position during welding. The location of the welding spot, the inaccurate welding path during arc welding, etc. The occurrence of these welding problems cannot meet the requirements of welding task planning, and some even do not meet the relevant regulations for the safe use of welding robots

Therefore, this requires the personnel engaged in robot research to follow certain principles in the process of developing the robot control system: that is, to ensure that the robot is as smooth and stable as possible during the processing operation, that is, to avoid sudden changes in position, speed and acceleration. If the movement is not smooth, it will increase the wear of the robot parts and cause the robot to vibrate and shock

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