Collision-free path planning method and device for welding robot in complex environment

Abstract

The invention relates to a collision-free path planning method and device for a welding robot in a complex environment, computer equipment and a computer readable storage medium. The method comprises the steps of: performing initialization, and performing modeling; expanding nodes on the first node tree and the second node tree respectively, wherein the first node tree takes a starting point of the welding path as a root node, the second node tree takes a termination point of the welding path as a root node, and an extension mode is selected according to the complexity of a path search environment during node extension; judging whether a collision-free path from the starting point to the ending point can be obtained or not according to the nodes on the first node tree and the second node tree; taking the collision-free path as an initial path, and performing interpolation processing on the initial path; performing post-processing optimization on the interpolated path to obtain a collision-free shortest path; and returning to the shortest path. The path planning method provided by the invention is high in universality, has relatively high efficiency and robustness, and can adapt to different complex path planning environments.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a collision-free path planning method and device for a welding robot in a complex environment, computer equipment, and a computer-readable storage medium. Background technique [0002] The path planning problem of a welding robot can be described as finding a collision-free path from the starting point of welding to the ending point. In general, the shorter the collision-free path length, the better the planning and the more efficient the welding operation. Planning a reasonable jump path through the collision-free path planning method can not only effectively improve the welding efficiency, but also improve the intelligence of the production process and reduce labor costs. At present, the path planning process of welding robots is mainly completed through manual teaching, which relies heavily on the engineers' own experience. When faced with complex welding environments and ma...

AI Technical Summary

Problems solved by technology

At present, the path planning process of welding robots is mainly completed through manual teaching, which relies heavily on the engineers' own experience. When faced with complex welding environments and many welds, manual planning is time-consuming and the quality cannot be guaranteed.

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