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Path Planning Method for Welding Robot Using Adaptive Elite-Guided Search

A technology for welding robots and path planning, applied in the direction of navigation calculation tools, etc., can solve problems such as slow convergence speed and low planning efficiency, and achieve the effect of improving efficiency and speeding up convergence speed

Active Publication Date: 2021-05-11
JIANGXI UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

To a certain extent, it overcomes the shortcomings of the traditional harmony search algorithm that tends to have slow convergence speed and low planning efficiency when solving the problem of welding robot path planning, and the invention can improve the efficiency of welding robot path planning

Method used

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  • Path Planning Method for Welding Robot Using Adaptive Elite-Guided Search
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  • Path Planning Method for Welding Robot Using Adaptive Elite-Guided Search

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Embodiment

[0036] This embodiment combines figure 1 Shown welding spot, the specific implementation steps of the present invention are as follows:

[0037] Step 1, the user inputs the number of solder joints D = 60, and enters such as figure 1 The coordinates of the D welding spots are shown, and then the user inputs the harmony library size HMS=65, and the maximum evolution algebra MaxIR=5000;

[0038] Step 2, let the current evolution algebra t=0, the step size coefficient BW t =0.5, the number of elite individuals in is the symbol for rounding up;

[0039] Step 3, randomly generate HMS individuals in the harmony library, and each individual stores the welding order weights of D welding points;

[0040] Step 4. Randomly select an individual from the top TB excellent individuals in the harmony database and record it as RPI, and then let the elite guide the individual EI t = RPI;

[0041] Step 5, randomly generate a real number pcs between [0,1], if pcs is less than 0.1, set the...

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Abstract

The invention discloses a welding robot path planning method using adaptive elite-oriented search. The invention integrates the adaptive elite-oriented strategy into the harmony search algorithm to realize the path planning of the welding robot. In the adaptive elite-oriented search algorithm, a mechanism for adaptively adjusting control parameters is designed, and a search strategy based on elite-oriented individual information is designed to speed up the convergence speed, and in the selection operation process, the new individual is adapted according to the advantages and disadvantages of the new individual. Sexually update elite-oriented individuals. The invention can accelerate the convergence speed of the harmony search algorithm to a certain extent, and improves the efficiency of the path planning of the welding robot.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a welding robot path planning method using adaptive elite-guided search. Background technique [0002] Welding robots are widely used in modern industrial production processes. The welding robot can work continuously and uninterruptedly for a long time, is not easily disturbed by external factors, and has good welding stability. Therefore, welding robots liberate the physical strength of welding workers to a certain extent. When people use a welding robot to complete a welding task, it is often necessary to plan a welding path for the welding robot for a large number of welding points, so that it starts welding from the source welding point, and then completes one and only one welding for each welding point in turn. [0003] The pros and cons of welding path planning will affect the work efficiency of welding robot to a great extent. However, welding path planning is an NP-c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 郭肇禄尹宝勇张文生
Owner JIANGXI UNIV OF SCI & TECH