Multi-goal path planning of welding robots with automatic sequencing

A welding robot and path planning technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve problems such as unconsidered and uncontrollable robot paths

Inactive Publication Date: 2011-09-28
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, this scheme does not take into account the problems that occur due to the robot reaching and moving through a single construct, so this scheme may lead to uncontrollable robot paths

Method used

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  • Multi-goal path planning of welding robots with automatic sequencing
  • Multi-goal path planning of welding robots with automatic sequencing
  • Multi-goal path planning of welding robots with automatic sequencing

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Embodiment Construction

[0012] The following discussion of embodiments of the invention relating to systems and methods for providing multi-objective path planning for welding robots is merely exemplary in nature and in no way serves to limit the invention, its application or uses.

[0013] The present invention proposes a multi-objective optimal path planning algorithm for welding robots that takes the same geometric inputs - such as target structures, i.e. welding points and welding torch orientation at welding points, geometry of parts and fixtures, etc., The algorithm also generates collision-free paths that automatically determine the optimal welding sequence based on a specific cost function associated with the entire path. The cost may include one or more of cycle time, smoothness criteria of the path, and overall joint motion of the robot. The algorithm will run over all possible configurations independently generated by inverse dynamics and will thus be free from anomalies. The algorithm wi...

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Abstract

A system and method for multi-goal path planning of welding robots with automatic sequencing. Input parameters associated with a number of goal points are obtained. The robot is moved through the multiple goal points based on the obtained inputs. One or more allowed cyclic paths are identified based on the obtained inputs. Weights are assigned to pre-defined attributes for path segments for each of the allowed cyclic paths. A cumulative score based on the values and assigned weights of the pre-defined attributes is calculated. An optimal path for the movement of robot across the goal points is identified based on the cumulative score.

Description

technical field [0001] The present invention generally relates to a system and method for providing multi-objective path planning for robots, and more particularly relates to a system and method for providing multi-objective path planning for welding robots, the system and method for robots based on cumulative scores Identify the best path for each allowed cycle path of . Background technique [0002] In those applications where robots are used in the automotive manufacturing process, especially in the case of automotive body-in-white (BIW) designs, welding robots can be used that have to move through multiple welding points where the welding operation must be done in a specific orientation. In some cases, the robot's path includes points that are not solder joints but are inserted manually or by software to avoid obstacles—such as parts, fixtures, and tools—points that interfere with the robot's movement. [0003] In the design of automobile body-in-white manufacturing pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B25J13/00B23K37/00
CPCB23K37/0258
Inventor S·班迪奥帕迪亚伊A·古普塔
Owner GM GLOBAL TECH OPERATIONS LLC
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