Task decoupling-based multi-robot collaboration welding path generation method

A multi-robot, welding path technology, applied in the direction of electrical program control, digital control, etc., can solve the problems of lack of unified method for different workpieces and complicated operation

Active Publication Date: 2016-02-03
SOUTHEAST UNIV
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Problems solved by technology

[0004] Looking at the above existing multi-robot collaborative welding methods, there are some problems, mainly reflected in: (1) lack of a unified method for accurate modeling of different workpieces, for different workpie

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  • Task decoupling-based multi-robot collaboration welding path generation method
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  • Task decoupling-based multi-robot collaboration welding path generation method

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Embodiment Construction

[0075] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0076] Such as figure 1 As shown, a method for generating a multi-robot collaborative welding path based on task decoupling in an embodiment of the present invention includes the following steps:

[0077] Step 1: According to the workpiece model to be welded, using the method of combining chord tolerance and minimum step size, the weld seam is discretized by taking points at non-equidistant distances, and the characteristics of the space curve weld seam are extracted;

[0078] The second step: based on the space curve weld features extracted in the first step, establish the optimization goals of minimizing the working time and optimizing the working time balance, as well as the constraints of simultaneous welding constraints, safety time constraints and dynamics / kinematics constraints Conditional multi-robot collaborative welding task planning...

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Abstract

The invention discloses a task decoupling-based multi-robot collaboration welding path generation method. The method includes the following steps that: first step, based on a to-be-welded workpiece model, a chord tolerance and minimum step-combined method is adopted to perform discretization processing on welding seams through non-equidistant point sampling, so that space curve welding seam features can be extracted; second step, a multi-robot cooperative welding task planning model is established; third step, a multi-operator multi-chromosome structured improved genetic algorithm is adopted to distribute multi-robot welding tasks; and fourth step, a motion closed chain-based multi-robot master-slave type collaboration motion model is established, so that multi-robot cooperation paths under tight coupling and loose coupling are generated. According to the method of the invention, the unified multi-robot cooperation welding model is established according to the coupling relations of multiple master-slave robots, and therefore, task planning efficiency of multi-robot cooperation welding can be effectively improved.

Description

technical field [0001] The invention relates to the field of multi-industrial robot welding technologies such as automobiles, electrical appliances, engineering machinery, etc., and specifically relates to a method for generating a multi-robot collaborative welding path based on task decoupling. Background technique [0002] In the field of industrial automation welding, industrial robots have been widely used in the field of industrial welding due to their high work efficiency and reliable performance. However, in dealing with complex and diverse tasks such as fixtureless system welding, single robots are increasingly showing insufficient capabilities, while multi-robots have high adaptability and flexibility through coordinated operations, and can complete complex tasks and improve It improves work efficiency and can adapt to more and more complex practical application problems. [0003] At present, the multi-robot coordination system mainly adopts task-oriented motion pl...

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19
Inventor 周波吴宝举戴先中孟正大曲志兵
Owner SOUTHEAST UNIV
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