APPLICATION OF GENETIC ALGORITHM TO PATH PLANNING OF REDUNDANT ARC WELDING ROBOT

CUI Kun, WU Lin, CHEN Shanben. APPLICATION OF GENETIC ALGORITHM TO PATH PLANNING OF REDUNDANT ARC WELDING ROBOT[J]. ROBOT, 1998, 20(5): 362-367.

Citation:

CUI Kun, WU Lin, CHEN Shanben. APPLICATION OF GENETIC ALGORITHM TO PATH PLANNING OF REDUNDANT ARC WELDING ROBOT[J]. ROBOT, 1998, 20(5): 362-367.

Citation:

CUI Kun, WU Lin, CHEN Shanben. APPLICATION OF GENETIC ALGORITHM TO PATH PLANNING OF REDUNDANT ARC WELDING ROBOT[J]. ROBOT, 1998, 20(5): 362-367.

Abstract

The significance of adding degree of freedom to welding robot is discuss in this paper, a new method of incorporating multiple criteria is presented as adaptation function. Genetic algorithms are employed to complish the optimal control of kinematics for the 9 DOF coodinated movement system which includes an industrial arc welding robot and a positioner.The autonomous path planning for space complicated weld seam is tested and its results are satisfactory.

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