Multi-welding robot path optimization method and system based on B-APF

Abstract

The invention discloses a multi-welding robot path optimization method and system based on a B-APF, and provides a B-APF algorithm. The multi-welding robot path optimization method comprises the steps that: a sensing area of a welding robot is introduced on the basis of a BOID model principle, and when a robot falling into a local minimum value point exists in multiple robots, the robot is stagnated, and meanwhile position coordinates of other robots are sensed; when other robots arrive at the target point, a path of the other robots closest to the stagnant robot is searched, and the closest point is selected as a virtual target point of the stagnant robot; after the stagnant robot reaches the virtual target point, the target point of the stagnant robot is changed back to an initial target point of the stagnant robot; and meanwhile, the B-APF algorithm is adopted to perform formation structure control optimization when the multiple welding robots work cooperatively, so that the overall path planning effect is improved. According to the multi-welding robot path optimization method, the multiple welding robots can better cooperatively weld large precise complex parts in the ship construction project, and optimal path optimization of the multiple welding robots in cooperative work can be obtained.

Description

technical field [0001] The invention belongs to the field of welding robot application technology, and in particular relates to the robot path optimization problem of precision component welding in the shipbuilding process, in particular to a B-APF-based multi-welding robot path optimization method and system. Background technique [0002] With the development of electronic technology, computer technology, numerical control and robot technology, welding robots are widely used in the field of shipbuilding. Welding is an important process link in the manufacture of ship equipment, and it is also a key factor determining the quality of its equipment. Especially in the shipbuilding process, a large number of precision components are required. In these construction and manufacturing processes, there are factors such as complex structure of parts, different sizes and shapes, intricate spatial distribution, large and dense number of solder joints, and fine and strict welding proces...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the shortcomings in the multi-welding robot cooperative ship parts welding path planning technology, aiming at the problems that the traditional artificial potential field algorithm in the multi-welding robot path planning application at the present stage has local minimum values ​​and poor synergy effects, and proposes An Artificial Potential Field Optimization Algorithm Based on BOID Model (BOID Artificial Potential Field, B-APF)

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