摘要
针对手动液压搬运车车架主焊工序双机器人同步焊接路径规划问题,文中引入虚拟点将多旅行商问题转化为单旅行商问题,选用换位表达编码方式对车架焊缝编码,然后采用基于状态转移策略的人工蜂群算法建立双机器人同步焊接数学模型,仿真求解全局最优焊接路径的较好近似解,并与改进的自适应遗传算法以及人工鱼群算法做了仿真对比试验.结果表明,人工蜂群算法不会过早停滞,具有较快收敛速度,较其它两种算法更能缩短焊接工时,基于人工蜂群算法的双机器人路径规划方法能有效解决搬运车车架主焊工序双机器人同步焊接问题.
Aiming at the path planning problem of synchronous dual-robot welding process of the hand pallet truck frame main,the multiple traveling salesman problem(MTSP)was transformed into a traveling salesman problem(TSP) by introducing virtual points,and weld lines were encoded by transposition express.An artificial bee colony(ABC) algorithm was adopt to build a mathematical model of dual-robot synchronous welding based on a state transfer strategy,and an approximate solution of global optimal welding path was calculated by simulation.Then a simulation experiment with ABC algorithm was conducted and compared with the improved adaptive genetic algorithm and artificial fish swarm algorithm.The result shows that the ABC algorithm has a faster convergence speed.It possesses an essence of good repeatability,and can obtain a shorter welding time.The dual-robot path planning method based on ABC algorithm can deal with dual-robot simultaneous welding problem of the pallet truck frame effectively.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2015年第2期97-100,118,共5页
Transactions of The China Welding Institution
基金
宁波市重大科技攻关资助项目(2012B10043)
宁波市科技计划资助项目(2013B82001)
关键词
双机器人同步焊接
路径规划
人工蜂群算法
多旅行商问题
dual-robot synchronous welding
path planning
artificial bee colony algorithm
multiple traveling salesman problem
