摘要
针对焊接机器人的运动特点及焊接工作过程中焊枪的避障问题,提出基于改进人工蜂群算法的机器人避障焊接路径规划策略。首先针对传统人工蜂群算法存在的问题,将Lévy(莱维)分布引入到人工蜂群算法侦查蜂寻找新蜜源的过程中,代替其原有0~1之间的随机分布过程,形成了基于Lévy飞行的改进型人工蜂群算法,然后将其应用到焊接机器人的路径规划问题中,并进行了仿真实验。结果表明:改进后的方法能够得到最优的焊接避障路径,且寻优速度快、过程稳定。该方法可用于解决焊接机器人避障路径规划问题。
Aiming at the motion characteristics of welding robot and the obstacle avoidance problem of welding gun in the working process of welding robot, a path planning strategy for robot obstacle avoidance welding based on improved artificial bee colony algorithm is proposed. Firstly, aiming at the problems of traditional artificial bee colony algorithm, Lévy distribution was introduced into the process of detecting bees to find new honey source, instead of the random distribution process between 0 and 1. An improved artificial bee colony algorithm based on Lévy flight was developed and applied to the path planning problem of welding robot. Simulation experiments were carried out. The results show that the improved method can obtain the optimal obstacle avoidance path of welding robot, and the optimization speed is fast and the process is stable, which can be used to solve the problem of obstacle avoidance path planning of welding robot.
作者
姚江云
吴方圆
YAO Jiangyun;WU Fangyuan(Lushan College, Guangxi University of Science and Technology, Liuzhou Guangxi 545616, China;Guangxi Aurora Intellectual Property Service Co., Ltd., Nanning Guangxi 530000, China)
出处
《机床与液压》
北大核心
2019年第15期49-52,76,共5页
Machine Tool & Hydraulics
基金
2017年度广西高校中青年教师基础能力提升项目(2017KY1389)
关键词
焊接机器人
路径规划
Lévy飞行
蜂群算法
最优解
避障
Welding robot
Path planning
Lévy flight
Artificial bee colony algorithm
Optimum solution
Obstacle avoidance
