基于GA及ROBCAD的机器人路径规划与仿真研究∗

摘要

车身焊点多达3000~5000个，而大部分都是由机器人来焊接。目前国内企业主要依靠规划人员对焊接机器人进行路径规划，其规划效率低，而且经常发生机器人干涉而影响生产节拍。针对这种情况，提出遗传算法作为求解机器人路径的算法，分析确定遗传算法的各个参数，在MATLAB中编写遗传算法程序计算出主线某一工位的机器人最优焊接路径，最后在仿真软件ROBCAD中对MAT-LAB计算结果进行验证，结果表明机器人节拍得到了较大的改善，具有很大的理论与实际意义。%There are 3000~5000 welding points of BIW, while most of them are welded by robots. Nowa-days domestic enterprises mainly rely on planners to plan paths for welding robots, which is low efficient and often affects the beat because of robot interference. In view of this, GA was taken for finding optimal path of robot, each parameters of GA were confirmed, a single robot’ s optimal welding path of a mainline sta-tion was calculated by means of GA on the platform of MATLAB. At last, result of MATLAB was verified in ROBCAD. Results showed that beat of robot had been greatly improved. It had great theoretical and prac-tical significance.