Dual-Objective Collision-Free Path Optimization of Arc Welding Robot
| Autor: | Xuewu Wang, Jianbin Wei, Xin Zhou, Zelong Xia, Xingsheng Gu |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Robot kinematics
Control and Optimization Optimization problem Computer science Mechanical Engineering Grid method multiplication Biomedical Engineering ComputerApplications_COMPUTERSINOTHERSYSTEMS Welding Computer Science Applications law.invention Human-Computer Interaction Path length Artificial Intelligence Control and Systems Engineering law Control theory Convergence (routing) Path (graph theory) Computer Vision and Pattern Recognition Arc welding |
| Zdroj: | IEEE Robotics and Automation Letters. 6:6353-6360 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2021.3092267 |
| Popis: | In order to solve the dual-objective path optimization problem of arc welding robot, a complete and novel methodology is proposed, including modeling, collision-free path search and global path optimization. First of all, the grid method is utilized to accurately model the welding workpieces and surrounding environment. Afterwards, an adaptive extension bidirectional RRT* algorithm (AB-RRT*) is used to search for collision-free paths between any two weld seams. Finally, aiming to minimize path length and energy consumption, the global path is optimized through the improved discrete NSGA-III algorithm (IDNSGA-III). Simulation results show that the AB-RRT* algorithm can search for optimal or sub-optimal solutions with higher efficiency. The IDNSGA-III algorithm can properly maintain the trade-off between convergence and distribution. Furthermore, it can obtain satisfactory solutions in a shorter time and provide effective guidance and help for engineers to plan the actual path. |
| Databáze: | OpenAIRE |
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