双机器人协作管管焊接的运动规划 |
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引用本文: | 答奇,付立友.双机器人协作管管焊接的运动规划[J].工业控制计算机,2014(5):66-68. |
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作者姓名: | 答奇 付立友 |
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作者单位: | 东南大学自动化学院,东南大学复杂工程系统测量与控制教育部重点实验室,江苏南京210096 |
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摘 要: | 针对中小管径管管相贯的马鞍形曲线焊缝,以双机器人协作为基础,提出一种应用于双机器人协作的焊接过程中机器人运动规划的方法。该方法基于焊缝、焊枪的数学模型,充分利用双机器人系统的冗余特性,提出了融合机器人操作度、关节位置等的多指标目标函数,以机器人关节极限为规划约束条件,采用遗传算法规划出最优机器人运动路径。在三维仿真环境中进行的仿真结果初步验证了该方法的可行性和有效性。
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关 键 词: | 马鞍形曲线焊缝 双机器人系统 运动规划 多目标函数 |
Motion Planning of Dual-Robot Cooperative System in Intersecting Pipes Welding |
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Abstract: | Based on a cooperative dual-robot system,a method applied to the robot motion planning of a dual-robot welding system for the saddle-shaped welding line of intersecting small-diameter pipes is present in this paper.Based on mathematical model of welding seam and welding torch,the method take advantage of dual-robot system's redundancy,and present a multi-objective function containing robots" manipulability,joint position,etc.The method employs joint limit as constraints,and genetic algorithm to compute the optional robot motion path. |
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Keywords: | saddle-shaped welding seam dual-robot system motion planning multi-objective function |
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