基于蚁群算法的点焊机器人工作站路径规划

宫百香; 张洪博

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基于蚁群算法的点焊机器人工作站路径规划
Path planning of spot welding robot station based on ant colony optimization
2018年48卷第6期页码：45-48
纸质出版：2018
DOI：
稿件说明：

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宫百香, 张洪博. 基于蚁群算法的点焊机器人工作站路径规划[J]. 电焊机, 2018,48(6):45-48. DOI：

GONG Baixiang, ZHANG Hongbo. Path planning of spot welding robot station based on ant colony optimization[J]. Eletric Welding Machine2018, 48(6): 45-48. DOI：

摘要

为合理规划汽车后侧围板点焊机器人工作站焊接路径

以点焊机器人各焊点间运动距离之和最短为目标

建立三维TSP数学模型

并运用蚁群算法求解。针对蚁群算法容易因参数设置不当陷入局部最优解的缺点

提出运用正交试验和回归分析法优化蚁群算法参数

通过正交试验获得最优参数组合

并得到参数主次排序

通过回归分析明确关键参数与最优解之间的关系

经假设检验验证符合二次函数

最终得到最优或近似最优解。结果表明

采用改进的蚁群算法能够得到汽车后侧围板点焊机器人工作站的最优或近似最优路径。

Abstract

In order to plan the welding path of the spot welding robot work station for the rear side of the car reasonably

a mathematical model of three-dimensional TSP is established to find shortest moving distance between the welding spots.The ant colony algorithm is used to solve the problem.Aiming at the shortcomings that the ant colony algorithm is apt to fall into the local optimal solution because of improper setting of parameters

this paper proposes that the parameters of ant colony algorithm are optimized by orthogonal test and regression analysis.The optimal parameters are obtained by orthogonal experiment

through regression analysis

the relationship between the key parameters and the optimal solution is clarified

and the hypothesis test verifies that it meets the quadratic function and finally obtains the optimal or approximate optimal solution.The results show that the improved ant colony algorithm can get the best or approximate optimal path of the welding robot work station.