Path Planning Method Of Spot Welding Robot Based On Genetic Algorithm

Welding robots have been used for many years, which is an important development in the fields of robots. Path planning is the research emphasis of intelligent welding control. Traditional welding using the teaching model. When the solder is not many, welding sequence can be judged by humans, the rest are in the same way to weld. But when there are a lot of solder joints, this methods turns out to be backward and it can not reach the requirement of high efficiency and low power.So, we need to apply the modern intelligent algorithm to find an efficient path.At first, this paper discusses the current situation of the development of spot welding robot path planning and points out the research significance of path planning and the content and arrangement of this paper at the same time. Then, this paper analyzes the structure and technical characteristics of welding robots and introduces the characteristics and the basic process of genetic algorithm. In the end, the path planning of welding robots is transformed to the problem of TSP. The problem of TSP refers to that some known distance between the city, has a salesman to visit all of the cities, and can only visit each city once. The salesman has to return to the starting point after visiting all of the cities, how to schedule access sequence to make the access to the shortest route.According to the motion trajectory of spot welding robots is the point-to-point movement, this paper turn the path planning into the problem of TSP and describe it with the language of mathematics. Then, making full use of genetic algorithm,the principle of graph theory, through MATLAB realizing the path planning of 30 points in 3D space.Finally, the genetic algorithm has been proved to be effective through the contrast.