CN109986167A - A kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component - Google Patents
A kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component Download PDFInfo
- Publication number
- CN109986167A CN109986167A CN201910404275.4A CN201910404275A CN109986167A CN 109986167 A CN109986167 A CN 109986167A CN 201910404275 A CN201910404275 A CN 201910404275A CN 109986167 A CN109986167 A CN 109986167A
- Authority
- CN
- China
- Prior art keywords
- robot
- welding
- space
- arc welding
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The embodiment of the invention discloses a kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component to establish the space C using preceding 3 joint angles of twin arc welding robot welding end neighbour as reference axis；Wherein, twin arc welding robot includes main robot and from robot；Using workpiece and main robot as the barrier from robot, project to the space C, with determine from robot the space C space with obstacle and freely weld space；Using shortest path first, planning is from robot in the most short operating path for freely welding space.By the building space C and through projection, the point that workpiece and main robot can be converted in space, to which anticollision problem between points will be reduced to from the operation avoidance of robot, reduce the computational complexity from robot operation avoidance, the accuracy of operation avoidance is improved, the collision between each joint of twin arc welding robot and the collision in arc welding robot each joint and workpiece are effectively reduced.
Description
Technical field
The present invention relates to welding technology fields, more particularly to a kind of double six axis arc welding robots of large-scale three dimensional complex component
Intelligent barrier avoiding method.
Background technique
Complex large-scale component is the important component of the manufacturings such as ship and container, and complex large-scale component is by work
People's steel plate different to all size thickness carries out arc welding and forms.In worker's welding process, welding surroundings are severe, weld labor
Fatigue resistance is big, and welding efficiency is not high, therefore proposes and replace manually being welded using welding robot system.
In intelligent robot welding field, mainly there are arc welding and spot-welded.For large-scale three dimensional complex component, no
Only weld seam type is more, and space structure is more complicated, needs using arc welding.But existing double welding robot National People's Congress
Majority is directed to spot welding problem, less in arc welding area research, and only consider in welding process in dual robot
Collision between welding gun and welding gun, welding gun and workpiece does not account for six, robot between joint and workpiece, dual robot six
Collision problem between a joint.
Collided during arc welding as it can be seen that how to effectively reduce robot, be those skilled in the art urgently
Problem to be solved.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of double six axis arc welding robot intelligent barrier avoidings of large-scale three dimensional complex component
Method can effectively reduce robot and collide during arc welding.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of double six axis arc-welding machines of large-scale three dimensional complex component
People's intelligent barrier avoiding method, comprising:
Using preceding 3 joint angles of twin arc welding robot welding end neighbour as reference axis, the space C is established；Wherein, described double
Arc welding robot includes main robot and from robot；
Using workpiece and main robot as the barrier from robot, the space C is projected to, to determine the slave
Device people the space C space with obstacle and freely weld space；
Using shortest path first, planning it is described from robot in the most short operating path for freely welding space.
Optionally, described to use shortest path first, planning is described freely to weld the most short of space from robot described
Operating path includes:
Using the ant group algorithm of pheromones volatilization factor adaptive updates, planning is described freely to weld from robot described
The most short operating path in space；
Wherein, pheromones volatilization factor is updated according to following formula:
Wherein, ε indicates the automatic adjusument factor, and p (t) indicates the value of pheromones volatilization factor under t moment, pminIt indicates
The lower limit value of pheromones volatilization factor value, p (t+1) indicate the value that pheromones volatilization factor is inscribed when t+1.
Optionally, preceding 3 joint angles of twin arc welding robot welding end neighbour include:
With
Correspondingly, the expression formula in the space C established is as follows:
Optionally, further includes:
According to the welding model of the welding starting point coordinate of twin arc welding robot, welding end point coordinate and workpiece, by inserting
Enter intermediate point method, determines the path of welding of twin arc welding robot.
Optionally, the welding of the welding starting point coordinate, welding end point coordinate and workpiece according to twin arc welding robot
Model determines that the path of welding of twin arc welding robot includes: by being inserted into intermediate point method
According to the welding starting point coordinate and welding end point coordinate of twin arc welding robot, most short path of welding is calculated；And it determines
The intersection point of balk board in the welding model of most short path of welding described in out and workpiece；
Using vertical point of the intersection point above the solderable boundary line of the balk board as intermediate point；
Using the path of welding starting point, intermediate point and welding end point composition as the path of welding of twin arc welding robot.
Using preceding 3 joint angles of twin arc welding robot welding end neighbour as coordinate it can be seen from above-mentioned technical proposal
Axis establishes the space C；Wherein, twin arc welding robot includes main robot and from robot；Using workpiece and main robot as slave
The barrier of device people projects to the space C, with determine from robot the space C space with obstacle and freely weld space；Using
Shortest path first, planning is from robot in the most short operating path for freely welding space.By the building space C and pass through projection
Mode, the point that workpiece and main robot can be converted in space, thus by being reduced to a little from the operation avoidance of robot
Anticollision problem between point reduces the computational complexity from robot operation avoidance, improves the accurate of operation avoidance
Property, effectively reduce the collision between each joint of twin arc welding robot and the collision in arc welding robot each joint and workpiece.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of double six axis arc welding robot intelligent barrier avoiding sides of large-scale three dimensional complex component provided in an embodiment of the present invention
The flow chart of method；
Fig. 2 is a kind of schematic diagram of workpiece simplified model provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are without making creative work, obtained every other
Embodiment belongs to the scope of the present invention.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Next, a kind of double six axis arc-welding machines of large-scale three dimensional complex component provided by the embodiment of the present invention are discussed in detail
People's intelligent barrier avoiding method.Fig. 1 is a kind of double six axis arc welding robot intelligence of large-scale three dimensional complex component provided in an embodiment of the present invention
The flow chart of energy barrier-avoiding method, this method comprises:
S101: using preceding 3 joint angles of twin arc welding robot welding end neighbour as reference axis, the space C is established.
Wherein, twin arc welding robot includes main robot and from robot.
The space C is using one group of parameter to determining motion rigid body pose as coordinate variable.The rigid body of three-dimensional space is empty
Between be 6 dimension spaces, three dimensions indicate the position of rigid body, and the other three dimension indicates the posture of rigid body.
The introducing space C, the point that mobile rigid body can be converted in the space C, therefore on twin arc welding robot road
In diameter planning, the path planning of Liang Tai robot has reformed into the path planning at the space C midpoint, carries out in this way in the space C double
The path planning of arc welding robot does not just have to consider robot shape and size.Since when carrying out arc welding, robot weldering
The pose connect is determined by 6 joints of robot, as long as the space C established is more accurate, can give twin arc welding robot
Cook up a collisionless path of welding.
The embodiment of the present invention is by taking 6 axis arc welding robots as an example, and after surmounting three-dimensional due to Spatial Dimension, space will become not
Intuitively, therefore in practical applications, first three free joint of arc welding robot can be only taken to establish the space C.
First three free joint refers to three free joints of twin arc welding robot welding end neighbour, this 3 joint angles
Value range it is as follows:
With
Correspondingly, the expression formula in the space C established is as follows:
S102: using workpiece and main robot as the barrier from robot, the space C is projected to, to determine from machine
People the space C space with obstacle and freely weld space.
During two arc welding robots are welded, main robot A path of welding belongs to Given information, from machine
The pose of people B is also determining.In order to effectively guarantee that twin arc welding robot is not interfered and collided during the welding process,
Path of welding of the main robot A in component is considered as a part of barrier from robot B in the space C.Exist from robot B
The process of welding, each joint is necessary not only for each joint for avoiding main robot A, and each joint also to avoid and work
Collision between part projects in the space C together using workpiece and main robot A as the barrier from robot, therefore can be with
The space that determines the space with obstacle from robot B in the space C and can freely weld.
S103: shortest path first is used, planning is from robot in the most short operating path for freely welding space.
Space is welded in the space with obstacle in the space C and freely according to from robot, it can be the path planning from robot
It is considered as a TSP problem.
Shortest path first includes dijkstra's algorithm, bellman-ford algorithm, Floyd algorithm, SPFA algorithm, ant colony
Algorithm (Ant Colony Optimization, ACO) etc..
Ant group algorithm is solving TSP global path planning with faster convergence rate, but is easily trapped into local optimum, because
This can update ant group algorithm using improved ant group algorithm, that is, adaptive information element, carry out slave in embodiments of the present invention
The obstacle-avoiding route planning of device people.The main thought of adaptive information element more new strategy is that algorithm in the process of running can be to information
Plain volatilization factor p is automatically adjusted.When the value of p is too small, arc welding robot path of welding pheromone concentration is excessively high, algorithm
Ability of searching optimum substantially reduce；Remnants when the value of pheromones volatilization factor p is excessive, on arc welding robot path of welding
Pheromone concentration is too small, and convergence speed of the algorithm substantially reduces, to solve the problem above-mentioned, using pheromones volatilization factors from
It adapts to adjust.
Wherein, pheromones volatilization factor can be updated according to following formula:
Wherein, ε indicates the automatic adjusument factor, and p (t) indicates the value of pheromones volatilization factor under t moment, pminIt indicates
The lower limit value of pheromones volatilization factor value, p (t+1) indicate the value that pheromones volatilization factor is inscribed when t+1.
It is as follows from robot obstacle-avoiding route planning basic procedure by taking adaptive information element updates ant group algorithm as an example:
Step1: initiation parameter information.
Parameter information includes ant colony parameter, robot welding path termination coordinate and starting point coordinate, Pheromone Matrix T etc..
In the concrete realization, it can enable in ant colony parameter from robot path of welding weight α=1, heuristic factor β=10,
The number of iterations N=400, ant population quantity M=40.It is 0.6 that initial information element, which is arranged,.Pheromones volatilization factor p is according to formula
(1) it is adaptively adjusted in [0.4,0.9].
Step2: initialization iterator n=1.
N indicates current iteration number.
Step3: initialization iterator m=1.
M indicates the quantity of the ant currently traversed.
Step4: single ant carries out route searching, empties taboo list, taboo list is added in starting point.
Unusable node is described in taboo list.
Step5: from robot C space search during follow certain movement rule, i.e., when pheromones promoted
When, then increase the movement probability from weldering robot, when pheromone concentration is low, reduces from robot movement probability.
The step-length that ant can be walked in the concrete realization is set as 1, and the number that next optional node is arranged is 6.When
When next optional node has barrier, then this minor node is had barrier less than 6 by the number of next optional node
Node is put into taboo list, and the selection of selection next node is carried out using the method for roulette.
Step6: ant is reached home or ant falls into local blind alley, then stops Step2, otherwise jump to Step5.
When ant is reached home or ant falls into local blind alley, then stops Step2, be no longer iterated at this time, directly
Into step7.
Step7: the pheromones left by ant calculate ant and reach home the distance L of walking.
If m≤M, m add 1 on the basis of original, Step4 is jumped to, Step3 is otherwise terminated.
When there is m > M, then illustrate that all ants in ant colony have been completed search, is no longer needed at this time using single
Ant carries out route searching, into Step8.
Step8: pheromones volatilization factor is updated according to formula (1), if n < N, n add 1 on the basis of original, is jumped to
Otherwise Step4 stops Step2.
Step9: for from one shortest path of Robot Selection as avoidance path.
Using preceding 3 joint angles of twin arc welding robot welding end neighbour as coordinate it can be seen from above-mentioned technical proposal
Axis establishes the space C；Wherein, twin arc welding robot includes main robot and from robot；Using workpiece and main robot as slave
The barrier of device people projects to the space C, with determine from robot the space C space with obstacle and freely weld space；Using
Shortest path first, planning is from robot in the most short operating path for freely welding space.By the building space C and pass through projection
Mode, the point that workpiece and main robot can be converted in space, thus by being reduced to a little from the operation avoidance of robot
Anticollision problem between point reduces the computational complexity from robot operation avoidance, improves the accurate of operation avoidance
Property, effectively reduce the collision between each joint of twin arc welding robot and the collision in arc welding robot each joint and workpiece.
Need to consider the collision prevention between welding gun and workpiece during twin arc welding robot welding.In the embodiment of the present invention
In, insertion can be passed through according to the welding model of the welding starting point coordinate of twin arc welding robot, welding end point coordinate and workpiece
Intermediate point method determines the path of welding of twin arc welding robot.
By welding starting point coordinate and welding end point coordinate, one most short path of welding can be determined.By the most short weldering
It connects path to be placed in the welding model of workpiece, can determine that the intersection point between most short path of welding and workpiece, the intersection point are
The point of impingement occurred when being welded for twin arc welding robot according to most short path of welding.
In order to avoid the collision of welding gun and workpiece, can arbitrarily be chosen in the solderable marginal position for the workpiece for intersection point occur
One point is as intermediate point, using the path of the welding starting point, intermediate point and welding end point composition as twin arc welding robot
Path of welding.
It in the concrete realization, can be using vertical point of the intersection point above the solderable boundary line of balk board as intermediate point；It will
Path of welding of the path of welding starting point coordinate, intermediate point and welding end point coordinate composition as twin arc welding robot.
It is illustrated in figure 2 a kind of schematic diagram of workpiece simplified model provided in an embodiment of the present invention, A indicates welding in Fig. 2
Starting point, B indicate welding end point, and according to most short path of welding principle, twin arc welding robot can be welded according to the path A → D → B
It connects.Figure it is seen that intersection point D belongs to the point on workpiece, touching for welding gun and workpiece will lead to according to the welding of this path of welding
It hits, it is clear that this is most short, and path of welding is infeasible.In the concrete realization, the workpiece where intersection point D can be regarded as balk board, it should
The upper side edge of balk board is solderable boundary line, and intersection point D makees vertical line to the upper side edge, is determined above solderable boundary line
Hang down point C, the path that vertical point C can be formed as intermediate point, welding starting point, intermediate point and the welding end point of twin arc welding robot
For A → C → B, the collision that can avoid between welding gun and workpiece is welded according to the paths.
In embodiments of the present invention, by the way of being inserted into intermediate point, it can effectively solve robot and carry out arc-welding weldering
There are the collision problems between welding gun and workpiece in termination process.
A kind of six axis arc welding robots of large-scale three dimensional complex component pair are provided for the embodiments of the invention above intelligently to keep away
Barrier method is described in detail.Each embodiment is described in a progressive manner in specification, and each embodiment stresses
Be the difference from other embodiments, the same or similar parts in each embodiment may refer to each other.It should be pointed out that
For those skilled in the art, without departing from the principle of the present invention, can also to the present invention into
Row some improvements and modifications, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Claims (5)
1. a kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component characterized by comprising
Using preceding 3 joint angles of twin arc welding robot welding end neighbour as reference axis, the space C is established；Wherein, the twin arc welding
Robot includes main robot and from robot；
Using workpiece and main robot as the barrier from robot, the space C is projected to, it is described from robot to determine
The space C space with obstacle and freely weld space；
Using shortest path first, planning it is described from robot in the most short operating path for freely welding space.
2. planning is described from machine the method according to claim 1, wherein described use shortest path first
People includes: in the most short operating path for freely welding space
Using the ant group algorithm of pheromones volatilization factor adaptive updates, planning is described freely to weld space from robot described
Most short operating path；
Wherein, pheromones volatilization factor is updated according to following formula:
Wherein, ε indicates the automatic adjusument factor, and p (t) indicates the value of pheromones volatilization factor under t moment, pminIndicate information
The lower limit value of plain volatilization factor value, p (t+1) indicate the value that pheromones volatilization factor is inscribed when t+1.
3. the method according to claim 1, wherein preceding 3 passes of twin arc welding robot welding end neighbour
Section angle includes:
With
Correspondingly, the expression formula in the space C established is as follows:
4. method according to claim 1 to 3, which is characterized in that further include:
According to the welding model of the welding starting point coordinate of twin arc welding robot, welding end point coordinate and workpiece, by insertion
Between put method, determine the path of welding of twin arc welding robot.
5. according to the method described in claim 4, it is characterized in that, the welding starting point coordinate according to twin arc welding robot,
The welding model of welding end point coordinate and workpiece determines the path of welding of twin arc welding robot by being inserted into intermediate point method
Include:
According to the welding starting point coordinate and welding end point coordinate of twin arc welding robot, most short path of welding is calculated；And determine institute
State the intersection point of balk board in the welding model of most short path of welding and workpiece；
Using vertical point of the intersection point above the solderable boundary line of the balk board as intermediate point；
Using the path of welding starting point, intermediate point and welding end point composition as the path of welding of twin arc welding robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910404275.4A CN109986167A (en) | 2019-05-15 | 2019-05-15 | A kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910404275.4A CN109986167A (en) | 2019-05-15 | 2019-05-15 | A kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109986167A true CN109986167A (en) | 2019-07-09 |
Family
ID=67136440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910404275.4A Pending CN109986167A (en) | 2019-05-15 | 2019-05-15 | A kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986167A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111615324A (en) * | 2020-05-09 | 2020-09-01 | 哈尔滨工业大学 | LED chip mounter pick-and-place path optimization method based on tabu search algorithm |
| CN114995503A (en) * | 2022-06-16 | 2022-09-02 | 江西理工大学 | Unmanned aerial vehicle routing inspection path optimization method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100863989B1 (en) * | 2007-04-24 | 2008-10-16 | 대우조선해양 주식회사 | Waiting time minimization of component assembly shop welding robot and collision prevention method |
| CN104128692A (en) * | 2013-04-30 | 2014-11-05 | 株式会社大亨 | Robot control device and teaching method of compensation value of multi-channel robot |
| CN104199292A (en) * | 2014-08-11 | 2014-12-10 | 大连大学 | Method for planning space manipulator tail end effector avoidance path based on ant colony algorithm |
| CN105415372A (en) * | 2015-12-09 | 2016-03-23 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| CN105751196A (en) * | 2016-04-12 | 2016-07-13 | 华南理工大学 | Operating method on basis of master-slave industrial robot collaboration |
| CN106557844A (en) * | 2016-11-23 | 2017-04-05 | 华东理工大学 | A kind of welding robot paths planning method |
| EP3434424A1 (en) * | 2017-07-27 | 2019-01-30 | Convergent Information Technologies GmbH | Efficient programming of robots for processing of workpieces with various variants |
-
2019
- 2019-05-15 CN CN201910404275.4A patent/CN109986167A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100863989B1 (en) * | 2007-04-24 | 2008-10-16 | 대우조선해양 주식회사 | Waiting time minimization of component assembly shop welding robot and collision prevention method |
| CN104128692A (en) * | 2013-04-30 | 2014-11-05 | 株式会社大亨 | Robot control device and teaching method of compensation value of multi-channel robot |
| CN104199292A (en) * | 2014-08-11 | 2014-12-10 | 大连大学 | Method for planning space manipulator tail end effector avoidance path based on ant colony algorithm |
| CN105415372A (en) * | 2015-12-09 | 2016-03-23 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| CN105751196A (en) * | 2016-04-12 | 2016-07-13 | 华南理工大学 | Operating method on basis of master-slave industrial robot collaboration |
| CN106557844A (en) * | 2016-11-23 | 2017-04-05 | 华东理工大学 | A kind of welding robot paths planning method |
| EP3434424A1 (en) * | 2017-07-27 | 2019-01-30 | Convergent Information Technologies GmbH | Efficient programming of robots for processing of workpieces with various variants |
Non-Patent Citations (1)
| Title |
|---|
| 汤彬 等: "双焊接机器人避障路径规划", 《华东理工大学学报（自然科学版）》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111615324A (en) * | 2020-05-09 | 2020-09-01 | 哈尔滨工业大学 | LED chip mounter pick-and-place path optimization method based on tabu search algorithm |
| CN111615324B (en) * | 2020-05-09 | 2021-06-01 | 哈尔滨工业大学 | LED chip mounter pick-and-place path optimization method based on tabu search algorithm |
| CN114995503A (en) * | 2022-06-16 | 2022-09-02 | 江西理工大学 | Unmanned aerial vehicle routing inspection path optimization method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7212074B2 (en) | A method for controlling edge-along running of an autonomous mobile robot | |
| CN110231824B (en) | Intelligent agent path planning method based on straight line deviation method | |
| CN109986167A (en) | A kind of double six axis arc welding robot intelligent barrier avoiding methods of large-scale three dimensional complex component | |
| CN111515503B (en) | Non-collision path planning method for arc welding robot | |
| CN110018686A (en) | A kind of paths planning method of intelligent grass-removing | |
| KR20210053323A (en) | Dynamic probability motion planning | |
| CN108705532A (en) | A kind of mechanical arm obstacle-avoiding route planning method, equipment and storage device | |
| CN108274465A (en) | Based on optimization A*Artificial Potential Field machinery arm, three-D obstacle-avoiding route planning method | |
| CN108873880A (en) | Intelligent mobile equipment and its paths planning method, computer readable storage medium | |
| CN107357295B (en) | Path searching method and chip based on grid map and robot | |
| CN101650189B (en) | Method for planning walking path and navigation method for avoiding dynamic barrier | |
| CN109116858A (en) | It is a kind of on specified path around barrier paths planning method and system | |
| CN111949017B (en) | Robot obstacle crossing edge path planning method, chip and robot | |
| CN111562785A (en) | Path planning method and system for collaborative coverage of cluster robots | |
| US9599987B2 (en) | Autonomous mobile robot and method for operating the same | |
| CN109269518B (en) | Intelligent agent-based method for generating limited space path of movable device | |
| CN109471442B (en) | Processing method for meeting obstacle when robot linearly returns to seat, chip and robot | |
| CN109211238B (en) | Real-time positioning anti-crossing optimization method | |
| CN108189039B (en) | Moving method and device of mobile robot | |
| CN104541218A (en) | Autonomous mobile robot and method for operating the same | |
| CN112237403B (en) | Covering path generation method for cleaning device and cleaning device | |
| CN114675649A (en) | Indoor mobile robot path planning method fusing improved A and DWA algorithm | |
| CN104932494A (en) | Probability type indoor barrier distribution map establishing mechanism | |
| CN103713640A (en) | Node movement behavior control method for mobile wireless sensor network | |
| CN113110497A (en) | Navigation path-based edge obstacle-detouring path selection method, chip and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190709 |