Task-distributing and path-planning method applied to multilayer SOM heterogeneous welding robots

Abstract

The invention discloses a task-distributing and path-planning method applied to multilayer SOM heterogeneous welding robots and belongs to the field of control of robots. The implementation method comprises the following steps: building a first layer of SOM neural network model, training the first layer of SOM neural network model and completing coarse distribution of a heterogeneous welding robotsystem, outputting task points to be welded of various types of heterogeneous welding robots, and improving robustness and universality of the heterogeneous welding robot system; planning paths of asecond layer of parallel SOM network heterogeneous welding robots, enabling multiple heterogeneous welding robots to reasonably complete tasks of the system in a self-organizing manner, simultaneouslyconsidering welding sequence constraint and welding robot interference constraint, achieving optimal path cost and outputting task-distributing and path-planning results; and enabling various heterogeneous welding robots to perform welding tasks according to the output task-distributing and path-planning results, improving the efficiency of the heterogeneous welding robot system and meeting the requirements of engineering application.

Description

technical field [0001] The invention relates to a method for task distribution and path planning of a multi-layer SOM heterogeneous welding robot, which belongs to the field of robot control. Background technique [0002] Typical large-scale components such as box girders and trusses are the links with the largest workload in port machinery manufacturing. However, my country's port machinery enterprises still rely entirely on manual work in the key processes of welding, grinding and painting, which has low efficiency, unguaranteed quality, and Due to the harsh environment and other problems, foreign companies have great advantages in manufacturing cost and cycle due to the large amount of research and development and use of intelligent processing equipment such as robots. The heterogeneous welding robot system is one of the key technologies, and the current research on the welding robot system mainly focuses on the research of the single-task welding robot system. In fact, th...

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Problems solved by technology

[0002] Typical large-scale components such as box girders and trusses are the links with the largest workload in port machinery manufacturing. However, my country's port machinery enterprises still rely entirely on manual work in the key processes of welding, grinding and painting,

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