基于优化遗传算法的焊接机器人路径规划研究
范祺1，蔡玉强*,1，贾思楠2
（1.华北理工大学 机械工程学院，河北 唐山 063210；2.华北理工大学 矿业工程学院，河北 唐山 063210）
摘要：为提高焊接机器人的精度和效率，得到最优的机器人路径规划，以现代HA006型机器人为研究对象，在SolidWorks平台构建其三维模型，依据D-H法获得其连杆参数数据，进行运动学正逆解理论计算，使用MATLAB robotics工具箱进行运动学正逆解验证；使用五次多项式曲线方法进行关节空间轨迹规划，发现加速度在开始结束位置的突变是影响运动过程平稳性的主要原因；基于优化遗传算法进行路径规划，将适应度函数结合路径长度和平滑度两项指标，最终仿真得到平滑的优化路径曲线。
关键词：D-H法；运动学正逆解；五次多项式；优化遗传算法；路径规划
中图分类号：TP242.3 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.01.011
文章编号：1006-0316 (2023) 01-0068-06
Path Planning of Welding Robot Based on Optimized Genetic Algorithm
FAN Qi1，CAI Yuqiang1，JIA Sinan2
( 1.School of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China; 2.School of Mining Engineering, North China University of Science and Technology, Tangshan 063210, China )
Abstract：In order to improve the welding accuracy and efficiency of the welding robot and obtain the optimal path planning, a three-dimensional model of Hyundai Robot HA006 is constructed on the SolidWorks platform. The connecting rod parameter data is obtained based on the D-H method, and the theoretical calculation of kinematic forward and inverse solution is carried out. The kinematic forward and inverse solution is verified by using the MATLAB robotics toolbox, and the joint space trajectory planning is carried out by using the combination of quintic polynomials and β spline curves. It is found that the sudden change of acceleration at the beginning and end position is the main reason that affects the stability of the motion process. Based on the optimized genetic algorithm and combined the adaptability function with the two indicators of path length and smoothness, the smooth optimized path curve is finally obtained by simulation.
Key words：D-H method；kinematic forward and inverse solution；quintic polynomial；optimized genetic algorithm；path planning
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收稿日期：2022-03-03
基金项目：河北省教育厅项目（2019GJJG216）；华北理工大学博士启动基金项目（BS2017094）
作者简介：范祺（1998－），男，河北唐山人，硕士研究生，主要研究方向为机械机构学与机械动力学，E-mail：tangshanfankuli@163.com。*通讯作者：蔡玉强（1967－），男，河北唐山人，博士，教授，主要研究方向机械动力学，E-mail：1824880027@qq.com。
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