| With the popularization and development of automation technology,the combination of plasma welding and industrial robots is more widely used in the field of production and processing.Traditional teaching methods can no longer meet the requirements of manufacturing companies,considering the accuracy and efficiency of robot path planning and processing.In view of this,this paper improves the efficiency of welding robots with different optimization purposes throughout enhancement to the immune algorithm.Based on the general immune algorithm,the priority encoding and decoding method is proposed for the welding robot path planning.It simplifies the complexity of the encoding and decoding.Two kinds of crossover mode and variation mode are mixed,which enhances the global and local searching ability of the algorithm respectively and speeds up the searching rate.For the memory update mechanism,a grouping update method based on the initial population is proposed,It effectively avoids the recurrence of similar antibody paths and ensures antibody diversity.On the strength of IRB4600 robot kinematics analysis,speed constraints,acceleration constraints and torque constraints are added to the improved immune algorithm,which effectively shortened the optimization time.By the kinematics analysis of IRB4600 robot,the different algorithms can be programmed by Ployspacer2019 b.And the 3D solder joint trajectory is simulated by using the improved immune algorithm.The B-spline curve can be piecewise fitted,also the fitting effect is not affected by the number of segments.By setting limits on the velocity,acceleration and torque of different joints,the cumulative change distance of each joint can be obtained.Based on this,the optimal time optimization can be carried out.Finally,the use of RobotStudio software and the intelligent algorithms are integrated into it.The process of spot welding and arc welding is simulated to meet the requirements of intelligence and high efficiency. |
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