Title: An improved genetic algorithm based robot path planning method without collision in confined workspace
Authors: Wenyu Tam; Lianglun Cheng; Tao Wang; Wenya Xia; Liangzhou Chen
Addresses: School of Automation, Guangdong University of Technology, Guangzhou City, 510000, Guangdong, China ' School of Computers, Guangdong University of Technology, Guangzhou City, 510000, Guangdong, China ' School of Automation, Guangdong University of Technology, Guangzhou City, 510000, Guangdong, China ' Huangpu Wenchong Shipbuilding Company Ltd., Guangzhou City, 510715, Guangdong, China ' Huangpu Wenchong Shipbuilding Company Ltd., Guangzhou City, 510715, Guangdong, China
Abstract: The manufacturing process of ships and marine engineering equipment involves a large number of welding processes of complex components. It is difficult for industrial robots to plan the welding path because of the complex distribution of the weld seams and environmental obstacles as well as the specific technological requirements of arc welding process. In this paper, the typical welding components are numerically modelled. Considering the joint collision-free constraint in the moving process of a robot and the welding technological constraints (e.g., welding direction) of some special welding seams, an improved Re-GA algorithm for planning a robot welding operation path in a complex workspace is proposed, and an optimal welding path can be obtained. The simulation results show that the Re-GA has reliable optimisation ability in the case of a small population size.
Keywords: Re-GA; complex components; pose match; directed path planning; optimal trajectory; industrial robot.
International Journal of Modelling, Identification and Control, 2019 Vol.33 No.2, pp.120 - 129
Received: 22 Jan 2019
Accepted: 16 Aug 2019
Published online: 27 Dec 2019 *