Energy consumption optimal trajectory planning method for welding robot

Abstract

The invention provides an energy consumption optimal trajectory planning method for a welding robot. The method comprises the following steps of S1) converting welding points in a robot operation space into a point cloud; S2) uniformly planning a jump trajectory by utilizing a quintic polynomial interpolation of a joint space; S3) calculating a robot joint deflection angle Pi, an angular velocityvi and an angular acceleration vi'; S4) calculating a joint friction torque and a driving torque, and calculating a robot joint motor driving torque taum; S5) obtaining an overall energy consumption objective function Em of jump between any two points of the single joint of the robot; S6) solving through an adaptive ant colony algorithm; and S7) outputting an energy consumption optimal point cloudjump trajectory. According to the method, a simplified robot joint friction model and a single-joint motor energy consumption model are utilized to establish an energy consumption model of jump amongmultiple points of the robot; and an improved ant colony algorithm is adopted to solve the model, so that trajectory optimization with the lowest total energy consumption of jump among multiple points of the welding robot is achieved.

Description

technical field [0001] The invention relates to the field of welding robots, in particular to a trajectory planning method for optimal energy consumption of a welding robot. Background technique [0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices for the industrial field. They can complete repetitive tasks such as assembly, welding, and processing, and can well control processing errors. They have been widely used in manufacturing processes. To reduce processing errors and replace human labor. Welding technology plays an important role in industrial production and processing. Due to the harsh welding working environment and the quality of the weld determines the quality level of the product, with the development of industrial robots, robot welding has gradually replaced traditional manual welding, thereby improving welding. Seam quality, improve the working environment. The trajectory planning of industrial welding robots i...

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Problems solved by technology

[0003] (1) Energy consumption optimization of the trajectory between two points: the optimal trajectory of energy consumption between two points can be obtained by searching through methods such as curve fitting and approximation, but it cannot solve the problem of optimal energy consumption between multiple points

[0004] (2) Energy consumption optimization of key point trajectories: The minimum kinetic energy of industrial robots is used as the objective function to seek the optimal trajectory of energy consumption. However, this method mainly optimizes known trajectories and cannot solve the problem of uncertainty in jumping between multiple points.

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