Xuewu Wang, Zelong Xia, Xin Zhou, Jianbin Wei, Xingsheng Gu, and Huaicheng Yan
Arc welding robot, path planning, collision avoidance, guidance-based RRT, IDA-DE
Rational planning for the welding robot trajectory and welding sequence could effectively improve welding efficiency and quality, shorten welding time, and therefore reduce production costs. In this article, the welding sequence and robot trajectory are optimized to obtain the collision-free path with the shortest path length. First, the complex welding environment is modeled and simplified using boxing method and grid method. Then, a guidance-based rapidly exploring random tree (RRT) algorithm is utilized to find a collision-free path. Besides it, an optimization algorithm (improved discrete adaptive differential evolution (IDA-DE)), which employed a discretized DE algorithm with an adaptive strategy, is proposed to optimize the welding sequence. Three state-of-the-art algorithms are compared with the proposed algorithm on five traveling salesman problem (TSPs), and the results show the effectiveness of the proposed algorithm. Finally, the proposed method is applied to optimize the actual arc welding robot path, and the desired optimized results are obtained. Hence, the proposed strategy in this article can be used to help engineers in the arc welding robot path planning.
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