摘要
本文提出增加弧焊机器人的自由度的意义，以多性能指标融合控制法计算适合度函数，利用遗传算法对９自由度工业用弧焊机器人与变位机协调运动系统进行了运动学优化控制，并针对空间复杂焊缝进行了路径自主规划实验验证，结果令人满意．
The significance of adding degree of freedom to welding robot is discuss in this paper, a new method of incorporating multiple criteria is presented as adaptation function. Genetic algorithms are employed to complish the optimal control of kinematics for the 9 DOF coodinated movement system which includes an industrial arc welding robot and a positioner.The autonomous path planning for space complicated weld seam is tested and its results are satisfactory.
出处
《机器人》
EI
CSCD
北大核心
1998年第5期362-367,共6页
Robot
基金
国家自然科学基金
关键词
机器人
遗传算法
冗余度
路径规划
弧焊机器人
Robot, genetic algorithms, redundant degree of freedom, welding, path planning
