The multiobjective elitist-simulated annealing genetic algorithm (MESAGA) is used to achieve the welding sequence planning of all weld points. Under the framework of the memetic algorithm, the improved A-star algorithm with redundant node deletion and a post-smoothing process is used to obtain the smooth collision-free optimal path set between weld points and to construct the objective function of travelling all weld points with the shortest path length and highest smoothness. By establishing the kinematic model of a spot welding robot based on the pipper criterion and z-y-z Euler angle solution method, the motion constraints of path optimization are analyzed. The method is divided into two parts: welding sequence planning and welding path planning between weld points. Aiming at the problem of complex path planning in the processing of curved surface workpieces of body-in-white, a hybrid path planning method based on a memetic algorithm is proposed.
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