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| 基于蚁群算法的喷涂机器人喷枪路径规划 | |
| 引用本文： | 陈伟,赵德安,平向意.基于蚁群算法的喷涂机器人喷枪路径规划[J].机械设计与制造,2011(7). |
| 作者姓名： | 陈伟 赵德安 平向意 |
| 作者单位： | 1. 江苏大学,电气信息工程学院,镇江,212013;江苏科技大学,电子信息学院,镇江,212003 2. 江苏大学,电气信息工程学院,镇江,212013 3. 江苏科技大学,电子信息学院,镇江,212003 |
| 基金项目： | 国家自然科学基金(60875052) |
| 摘 要： | 根据复杂曲面的几何特性,对曲面进行分片处理,并建立喷枪路径的评价函数,在每一片上进行喷涂机器人喷枪路径的规划。为了使喷涂机器人喷涂作业的时间最短,将整个曲面上的喷枪路径优化组合问题看成乡村邮递员问题(ORPP),并利用改进的蚁群算法求解ORPP问题。算法中通过在进化过程中动态调整蚂蚁的个体信息,激励蚁群搜索可行空间并发现最优解集。最后以一个复杂曲面工件为喷涂对象进行喷涂实验,结果证明了改进的蚁群算法比一般性随机算法效果更佳。 |
| 关 键 词： | 喷涂机器人 路径规划 蚁群算法 路径组合 |
Tool path planning of robotic spray painting based on ant colony algorithms |
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| CHEN Wei,ZHAO De-an,PING Xiang-yi.Tool path planning of robotic spray painting based on ant colony algorithms[J].Machinery Design & Manufacture,2011(7). | |
| Authors: | CHEN Wei ZHAO De-an PING Xiang-yi |
| Affiliation: | CHEN Wei1,2,ZHAO De-an1,PING Xiang-yi2(1School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)(2School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212003,China) |
| Abstract: | A complex curved surface has to be divided into several patches and path planning for each patch is performed.The path integration problem can be modeled as the open rural postman problem(ORPP),and an ant colony algorithm is advanced to solve the ORPP.Initially,each ant initializes individual information and the information will be changed with the evolution.Experiments are carried out on automotive body part,which results proves to be better comparing with those of a genetic algorithm and a random path int... |
| Keywords: | Robotic spray painting Path planning Ant colony algorithms Path integration |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
