The Research On Path Planning Of Multiple Robots Cooperative Welding Of Body-in-White

At present,robot has been widely used in the assembling and welding line of body-inwhite(BIW)of various manufacturers.In the assembling and welding line of BIW,the time of the robot welding directly affects the production efficiency of the assembling and welding line.In view of the fact that the robot welding path planning in the production of BIW is still in the manual way,and there are some defects such as long planning time and unreasonable planning results.Studying the multi-robot path planning has important practical significance for reducing the time of path planning,reducing the robot welding time and improving production efficiency of the assembling and welding line.This dissertation takes the welding of BIW as the research object,and mainly studies the path planning of single and multiple welding robots.Firstly,the characteristics of the structure,the spot welding process and the welding production resources of BIW(including welding robots and fixtures)were analyzed,and the task requirements of the robot path planning are determined.Secondly,according to the features of the task,the robot welding path planning problem is transformed into traveling salesman problem(TSP),and the ant colony optimization is selected to solve it.A set values of better algorithm parameters are obtained through MATLAB experiments.Aiming at the shortages of traditional ant colony optimization,a comprehensive improved ant colony optimization is proposed.Considering the constraints of welding process and considering the shortest welding path as the optimization criterion,the improved ant colony optimization is used for robot welding path planning,and then compared with the results of path planning by traditional ant colony optimization,adaptive ant colony optimization and genetic algorithm.Simulation verifies the feasibility and rationality of the improved algorithm.Aiming at the problem features of multi-robot path planning,a 0-1 multi-package model for welding spot distribution and a mathematical model for robot anti-interference are established.The problem of multi-robot welding path planning is solved by the improved ant colony optimization for task allocation and path planning for each robot.Taking the two-robot cooperative welding path planning as an example,the simulation results verify the feasibility and rationality of the improved algorithm in this dissertation.Finally,in the EASY-ROB robot offline simulation platform,the simulation layout of the two-robot cooperative welding mentioned above is built,and the welding spot and path information is imported,then executed the off-line simulation program of the two-robot cooperative welding.The feasibility of the path planed by the algorithm proposed in this dissertation is verified.The simulation results prove that the multiple robots welding path planning algorithm is reasonable and feasible again.In summary,the improved ant colony optimization proposed in this dissertation can be used for welding path planning of single and multiple robots to guide production,ensure reasonable welding path and improve the efficiency of welding production.This dissertation solves the practical problem that the robot path planning in actual production is based on experience,long planning time and unreasonable planning path.