Research On Motion Planning And Task Planning Algorithm Of Welding Robots

With the continuous development of modern information technology,ship welding engineering technology has gradually advanced to a new stage of automation,mechanization and intelligence.In the current shipbuilding process,there are many problems when welding complex components with welding robots,such as complex weld position,changeable welding torch posture,narrow welding workspace and diverse welding objects,which lead to the low degree of welding automation of complex components.It is particularly urgent to improve the welding efficiency of welding robots and the level of welding automation.Therefore,this paper focuses on the collision free motion planning algorithm,welding task planning method and welding motion simulation system of intelligent welding robots for complex welding components.In this paper,the problem and definition of motion planning are described in detail,and then a variety of sampling-based algorithms are described and explained,and the advantages and disadvantages of various algorithms and the direction of improvement are analyzed.In order to improve the performance of welding robots motion planning,an efficient and stable bi-directional intelligent sorting random extended tree algorithm(BIS-RRT*)is proposed.The feasibility of BISRRT* is verified in three obstacle test environments,I-shaped obstacle,narrow channel obstacle and complex obstacle.Compared with other algorithms,BIS-RRT* has some advantages in solving speed and solving quality.Aiming at the difficulty of welding task planning for multi weld components,this paper firstly introduces the target welding workpiece and its weld types,and analyzes the welding process constraints of different weld types.According to the welding workpiece and welding process constraints,the mathematical model of incomplete graph TSP problem under constraint path is established.An improved ant colony algorithm is designed to solve the non complete graph TSP problem under this constrained path.Finally,three kinds of complex welding components are simulated in MATLAB 2021 a to verify the feasibility and fast convergence of the improved ant colony algorithmWelding motion simulation is an essential part before welding operation.In order to illustrate the application value of motion planning and welding task planning,a welding motion simulation system of welding robots based on Robots Operating System(ROS)is designed.The Move It configuration software package of ma1400 is completed by using the URDF file of ma1400 welding robots,and the job sequence of welding planning is constructed by using Move It Task Constructor(MTC),so as to realize the welding motion simulation system of welding robots.Finally,the welding task planning simulation experiment of a complex component is carried out to verify the significance of welding task planning.