Study on Welding Path Planning of Welding Position Flock for Welding Robot Based on Improved Genetic Algorithm

Hong Wei Lv

doi:10.4028/www.scientific.net/AMM.602-605.1332

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605Study on Welding Path Planning of Welding Position...

Study on Welding Path Planning of Welding Position Flock for Welding Robot Based on Improved Genetic Algorithm

Abstract:

With full rotation articulated ABB-IBR140-M2000 robot with six degrees of freedom used as welding robot, the exploring of efficient complete coverage of welding position flock is an important way of improving the performance of welding robot. Making use of improved genetic algorithm, in which the best father generation is saved and using ordered cross and reverse ordered mutation to constitute filial generation, and this method makes sure that the algorithms is convergent. The complete coverage of welding position optimization mathematic model whose objective is the minimum distance is established, making use of the improved genetic algorithm to solve the problem, an example is analyzed in detail, and the result shows that the algorithms is convergent and efficient.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

1332-1335

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.1332

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Online since:

August 2014

Authors:

Hong Wei Lv*

Keywords:

Improved Genetic Algorithm (IGA), Path Planning, Welding Robot

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* - Corresponding Author

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