弧焊机器人放置规划问题的研究

Research on the Placement of Manipulator in Arc Welding Application

摘要: 给出了一种利用模拟退火遗传算法解决机器人弧焊应用中的机器人放置问题的方法．介绍了模拟退火遗传算法的原理，给出了优化过程中的多运动学目标准则以及目标函数的构造．最后对算法进行了验证，结果令人满意．

Abstract: This paper presents a method to solve the problem of manipulator placement in which the simulated annealing genetic algorithm(SA-GA) is adopted.The principle of SA-GA is introduced.Multiple kinematics criteria is presented and the objective function is constructed which are used in the optimal process.Finally, the algorithm is tested and its results are satisfactory.