基于改进粒子群算法的焊接机器人轨迹优化控制方法

Xi Xu; Hegen Xiong; Yong Tao; Xianwu Xie; Hui Liu; Baishu Sun

doi:10.3772/j.issn.1002-0470.2018.05.006

基于改进粒子群算法的焊接机器人轨迹优化控制方法

Translated title of the contribution: A trajectory optimization control method of welding robot based on improved particle swarm optimization

Xi Xu
, Hegen Xiong^*
, Yong Tao
, Xianwu Xie
, Hui Liu
, Baishu Sun

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Wuhan University of Science and Technology
Beihang University
Northwest Industry Group Co. Ltd

Research output: Contribution to journal › Article › peer-review

Abstract

An optimization control method of six degree of freedom welding robot is proposed. The robot’s accessibility, singularity and collision avoidance operation constraints are analyzed. The operational constraints of robot are proposed to build the model. The parametric kinematics model of arc welding robot is established. A new trajectory optimization control method based on improved PSO algorithm is proposed. The method satisfies the given constraints, so that the arc welding robot can optimize the welding operation track at a certain base position to finish the welding work more accurately.Finally,

Translated title of the contribution	A trajectory optimization control method of welding robot based on improved particle swarm optimization
Original language	Chinese (Traditional)
Pages (from-to)	425-433
Number of pages	9
Journal	Gaojishu Tongxin/Chinese High Technology Letters
Volume	28
Issue number	5
DOIs	https://doi.org/10.3772/j.issn.1002-0470.2018.05.006
State	Published - 1 May 2018

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title = "基于改进粒子群算法的焊接机器人轨迹优化控制方法",

abstract = "An optimization control method of six degree of freedom welding robot is proposed. The robot{\textquoteright}s accessibility, singularity and collision avoidance operation constraints are analyzed. The operational constraints of robot are proposed to build the model. The parametric kinematics model of arc welding robot is established. A new trajectory optimization control method based on improved PSO algorithm is proposed. The method satisfies the given constraints, so that the arc welding robot can optimize the welding operation track at a certain base position to finish the welding work more accurately.Finally,",

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author = "Xi Xu and Hegen Xiong and Yong Tao and Xianwu Xie and Hui Liu and Baishu Sun",

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doi = "10.3772/j.issn.1002-0470.2018.05.006",

language = "繁体中文",

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journal = "Gaojishu Tongxin/Chinese High Technology Letters",

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T1 - 基于改进粒子群算法的焊接机器人轨迹优化控制方法

AU - Xu, Xi

AU - Xiong, Hegen

AU - Tao, Yong

AU - Xie, Xianwu

AU - Liu, Hui

AU - Sun, Baishu

PY - 2018/5/1

Y1 - 2018/5/1

N2 - An optimization control method of six degree of freedom welding robot is proposed. The robot’s accessibility, singularity and collision avoidance operation constraints are analyzed. The operational constraints of robot are proposed to build the model. The parametric kinematics model of arc welding robot is established. A new trajectory optimization control method based on improved PSO algorithm is proposed. The method satisfies the given constraints, so that the arc welding robot can optimize the welding operation track at a certain base position to finish the welding work more accurately.Finally,

AB - An optimization control method of six degree of freedom welding robot is proposed. The robot’s accessibility, singularity and collision avoidance operation constraints are analyzed. The operational constraints of robot are proposed to build the model. The parametric kinematics model of arc welding robot is established. A new trajectory optimization control method based on improved PSO algorithm is proposed. The method satisfies the given constraints, so that the arc welding robot can optimize the welding operation track at a certain base position to finish the welding work more accurately.Finally,

KW - Arc welding robot

KW - Improved particle swarm optimization

KW - Inverse running mode

KW - Trajectory optimization

UR - https://www.scopus.com/pages/publications/85059613339

U2 - 10.3772/j.issn.1002-0470.2018.05.006

DO - 10.3772/j.issn.1002-0470.2018.05.006

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SN - 1002-0470

VL - 28

SP - 425

EP - 433

JO - Gaojishu Tongxin/Chinese High Technology Letters

JF - Gaojishu Tongxin/Chinese High Technology Letters

IS - 5

ER -

基于改进粒子群算法的焊接机器人轨迹优化控制方法

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