基于多策略融合粒子群算法的点焊机器人路径多目标优化

项目名称： 基于多策略融合粒子群算法的点焊机器人路径多目标优化

项目编号： No.61773165

项目类型： 面上项目

立项/批准年度： 2018

项目学科： 自动化技术、计算机技术

项目作者： 王学武

作者单位： 华东理工大学

项目金额： 16万元

中文摘要： 智能制造对焊接自动化程度要求越来越高，焊接机器人的路径规划是焊接自动化关键问题之一。本项目针对焊接加工中的点焊机器人路径多目标智能规划问题，分析与路径规划相关的影响因素。以焊接效率的提高为主要优化目标，综合考虑焊接路径长度、避障、节能、多机器人协调等各种因素，进行多目标路径规划问题分析。研究多种优化策略，进行多策略融合粒子群优化算法研究，对改进的混合粒子群算法进行离散化，以适用于焊接机器人路径优化问题。研究成果对于提高焊接效率、产品质量具有重要理论意义和工程价值，能够有效提高焊接自动化水平以及企业经济效益，更是顺应了绿色制造、智能制造这一制造业发展方向。

中文关键词： 智能优化；多目标优化；混合优化

英文摘要： Automatic welding technology is very important for intelligent manufacturing, and welding robot path planning is the key problem of welding automation. In order to realize intelligent path optimization for spot welding robot in welding manufacturing process, factors related to path planning will be analyzed first. Then the multi-objective path planning problem will be modeled based on consideration about the influence factors (path length, obstacle avoidance, energy saving, and multi-robot coordination, etc.). And the improvement of welding efficiency is selected as the main objective here. For improving optimization effects of particle swarm optimization (PSO) algorithm, various optimization strategies will be studied and applied. Discretization of the established hybrid PSO will be conducted for application in spot welding robot path planning. The results of this work have both academic significance and application potential, and would lead to high quality and high efficiency welding. It would improve welding automation level and enterprise economic benefit, and it also conforms to the developing trends of intelligent manufacturing and green manufacturing.

英文关键词： Intelligent optimization;Multi-objective optimization;Hybrid optimization