Arc welding robot collision-free path planning method

Abstract

The invention relates to the technical field of welding robots, in particular to an arc welding robot collision-free path planning method, computer equipment and a computer readable storage medium. The method comprises the steps of building a welding environment model in a grid method and bounding box method hybrid modeling mode, and determining an obstacle object and a guide space; searching forcollision-free transfer tracks between weld joints through an RRT method to form a transfer matrix; and discretizing a difference method through a discrete strategy, dynamically adjusting the variation step length by adopting an adaptive strategy, screening the collision-free transfer tracks in the transfer matrix by taking the welding sequence and the welding direction as objects, and determiningthe shortest collision-free welding path. A complete solution of model establishment, track planning and path planning is provided for a complex welding task, the calculation speed and precision areboth considered, a path reference can be provided for engineers in the face of new products, the experience acquisition cost is reduced, and the development cycle is shortened.

Description

Technical field [0001] The invention relates to the technical field of welding robots, and in particular to a collision-free path planning method for an arc welding robot, computer equipment and computer-readable storage media. Background technique [0002] Arc welding robot path planning refers to planning a reasonable walking path that does not collide with obstacles for the robot's welding task, including: welding sequence design, welding direction design, and trajectory planning of transfer paths between welds. The rationality of path planning can improve the efficiency of welding tasks and reduce costs. [0003] At present, the arc welding path planning program is mainly completed by experienced senior engineers through manual teaching. This method requires higher engineers, the design plan takes a long time, and when new products (new welded workpieces) appear, there is no With the help of guidance, manual teaching is directly used to complete the path planning, and the cost...

AI Technical Summary

Problems solved by technology

However, most of the optimization methods that can be used in the prior art are used in spot welding, and the welding scheme is relatively simple, regardless of the welding direction and the combination of trajectory planning and path planning, so it is difficult to apply to complex welding environments

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