Advanced Search
ZHANG Lidong, LI Liangyu, WANG Tianqi, LIU Haihua, ZHENG Wuke. Collision-free path planning of double robots welding process under loose coordination[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(3): 55-58.
Citation: ZHANG Lidong, LI Liangyu, WANG Tianqi, LIU Haihua, ZHENG Wuke. Collision-free path planning of double robots welding process under loose coordination[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(3): 55-58.
shu

Collision-free path planning of double robots welding process under loose coordination

  • 1.

    Advanced Mechatronics Equipment Technology Tianjin Area Laboratory, Tianjin Polytechnic University, Tianjin 300387, China

  • 2.

    Shanxi Electric Power Company Electric Power Switch Factory, Taiyuan 030045, China

More Information
  • Received Date: June 23, 2014
    Graphical Abstract
    • Abstract
  • Aimed at solving the problem of double welding robots collision in the same workspace, this research presented a method of collision-free path planning based on assuming correction strategy and genetic algorithm. Envelope model of robot was established with sphere and cylinder, and the analytical expression of shortest distance between two robots was calculated in local coordinate system using space geometry principle. An assuming path was given by ideal constraint's condition, the planning of arc welding process and the shortest distance between solder joints. Fitness function was related to the quality of arc welding, the shortest distance of spot welding, the shortest distance between two robots, the range of joints. Genetic algorithm was used to search for safe configuration. Taking stud welding station an example, this paper did collision-free path planning and emulation experiments with MATLAB and DELMIA software. The method was proved correct and feasible, planning a quality and safe path for double robots.
    • FullText(HTML)
    • References (7)
  • 陈志翔, 殷树言, 卢振洋. 基于遗传模拟退火算法的弧焊机器人系统协调路径规划[J]. 机械工程学报, 2005, 41(2): 194-198. Chen Zhixiang, Yin Shuyan, Lu Zhenyang. Genetic simulated annealing based coordinated path planning for arc welding robot system[J]. Chinese Journal of Mechanical Engineering, 2005, 41(2): 194-204.
    张 铁, 欧阳帆. 双机器人协调焊接任务规划及仿真[J]. 焊接学报, 2012, 33(12): 9-12. Zhang Tie, Ouyang Fan. The coordinated welding task planning and simulation of double robots[J]. Transactions of the China Welding Institution, 2012, 33(12): 9-12.
    霍孟友, 王新刚, 尹 萍. 自动焊接相贯线接缝的实时插补控制算法与仿真[J]. 焊接学报, 2006, 27(11): 37-40. Huo Mengyou, Wang Xingang, Yin Ping. Real-time interpolation algorithm and simulation of seam of intersection line for automatic welding[J]. Transactions of the China welding institution, 2006, 27(11): 37-40.
    张华军, 张广军, 蔡春波, 等. 双面双弧焊机器人主从协调运动控制[J]. 焊接学报, 2011, 32(1): 24-28. Zhang Huajun, Zhang Guangjun, Cai Chunbo, et al. Masterslave coordinatedmotion controlling of doublesided arc welding robots[J]. Transactions of the China Welding Institution, 2011, 32(1): 24-28.
    Cheol C, Myung J C, Bum H L. Collision avoidance of two general robot manipulators by minimum delay time[J]. Institute of Electrical and Electronics Engineers, 1994, 24(3): 517-522.
    周友行, 邹湘伏, 何清华. 多臂机器人关节间的碰撞检测研究[J]. 中国工程机械学报, 2003, 1(1): 16-21. Zhou Youxing, Zou Xiangfu, He Qinghua. Study on collision detection of multi-boom robot's joints[J]. Chinese Journal of Construction Machinery, 2003, 1(1): 16-21.
    李 平, 孟庆鑫, 王立权. 双机器人协调系统的碰撞检测问题研究[J]. 哈尔滨工程大学学报, 2005, 26(3): 320-323. Li Ping, Meng Qingxin, Wang Liquan. Reasearch on collision detection of double robots coordinated system[J]. Journal of Harbin Engineering University, 2005, 26(3): 320-323.
    • Related Articles

  • Related Articles

    [1]LUO Liuxiang, XING Yanfeng. CMT spot welding deformation of sheet metal based on BP neural network and genetic algorithm[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2019, 40(4): 79-83. DOI: 10.12073/j.hjxb.2019400104
    [2]WU Xin<sup>1</sup>, LI Qiang<sup>1</sup>, QI Bojin<sup>2</sup>. Application of Snake model and genetic algorithm in special weld seam extraction[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2018, 39(9): 83-89. DOI: 10.12073/j.hjxb.2018390229
    [3]ZHOU Jianping, XU Yan, CAO Jiong, YIN Yiliang, XU Yihao. High power supply optimization design based on BP neural network and genetic algorithm[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2016, 37(4): 9-13.
    [4]ZHAO Na, YUE Jianfeng, LI Liangyu, WANG Tianqi, ZHENG Wuke. Path planning algorithm for leader-follower of two-robot coordinate welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(3): 67-70.
    [5]YAO Jingzheng, HAN Duanfeng, MIAO Yugang. Application of genetic algorithm in assembling based on welding speed[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2011, (6): 89-92.
    [6]ZHANG Genyuan, XU Maili, TIAN Songya, Wen Fang. Genetic algorithm of grain growth in heat-affected zone of 45 steel AC flash butt welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2009, (6): 79-82.
    [7]DONG Zhibo, WEI Yanhong, Zhan Xiaohong, WEI Yongqiang. Optimization of mechanical properties prediction models of welded joints combined neural network with genetic algorithm[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2007, (12): 69-72.
    [8]LIU Yong, Wang Kehong, Yang Jingyu. Optimal path modeling for redundant robot based on genetic algorithm[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2007, (11): 25-28.
    [9]CUI Xiaofang, MA Jun, ZHAO Haiyan, ZHAO Wenzhong, MENG Kai. Optimization of welding sequences of box-like structure based on a genetic algorithm method[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2006, (8): 5-8.
    [10]LEI YU-cheng, ZHANG Cheng, CHENG Xiao-nong, CHEN Xi-zhang. Study in GTAW of fuzzy neural controller based genetic algorithm[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2003, (4): 47-50.

  • Cited by

    Periodical cited type(2)

    1. 吴鑫，李强，齐铂金. Snake模型和遗传算法在特殊焊缝提取中的应用. 焊接学报. 2018(09): 83-89+132 . 本站查看
    2. 汤彬，王学武，薛立卡，顾幸生. 双焊接机器人避障路径规划. 华东理工大学学报(自然科学版). 2017(03): 417-424 .

    Other cited types(10)

Catalog

    Get Citation
    PDF
    XML
    Article views (276) PDF downloads (103) Cited by(12)
    Turn off MathJax
    Article Contents
    Abstract
    References
    Related Articles

    Website Copyright © Editorial Office of Transactions of the China Welding Institution, Welding Journals Publishing HouseTel：0451-86323218Address：No. 2077, Chuangxin Road, Songbei District, Harbin

    Supported by: Beijing Renhe Information Technology Co. Ltd    Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return