Research on Obstacle Avoidance Strategy for Welding Robot

doi:10.3901/JME.2019.17.077

Abstract

Abstract: Welding robots are widely used in industrial production because of their high efficiency, and collision detection is related to the safe production of robots. Aiming at the problem of obstacle avoidance between welding robot and workpiece, this paper uses the advantage of grid method to simplify the environment information, and uses the ant colony algorithm to calculate the speed of the obstacle avoidance path between each two solder joints. Find the collision-free path between the end of the robot and the workpiece. In the obstacle avoidance part of robot and fixture, this research uses the combination of rough detection and fine detection by the geometric modeling of the robot, the selection of the welding point position and the forward and reverse solution of the attitude. The collision detection completes the obstacle avoidance between the robot joint and the fixture. Finally, considering the welding gun attitude and fixture, according to the two principles of the same attitude and welding time, the group competitive particle swarm optimization algorithm is used to optimize the welding time of the robot, and the welding point division and path planning of the double welding robot are realized. The robot has the best welding time target.

Key words: obstacle avoidance, path planning, particle swarm algorithm, grid method

CLC Number:

TG409

WANG Xuewu, TANG Bin, GU Xingsheng. Research on Obstacle Avoidance Strategy for Welding Robot[J]. Journal of Mechanical Engineering, 2019, 55(17): 77-84.

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