面向多工位多机器人焊接任务的多目标优化方法OA

The trajectory planning of welding robots and task allocation in multi-station multi-robot systems are crucial elements that determine welding efficiency and energy consumption in the multi-objective optimization problem.For the multi-constraint and strongly coupled problem of multi-station and multi-robot task allocation,considering multiple constraint conditions such as the maximum speed and acceleration of the robot,reachability,collision,and welding time comprehensively,a multi-objective optimization model for welding task allocation and welding sequence collaborative planning is constructed,and a three-layer stepwise optimization algorithm is proposed to optimize and solve it.An optimization model is created for the collaborative planning of welding task distribution and welding sequence,along with a three-layer step-by-step optimization algorithm to solve the model efficiently.The improved NSGA-II algorithm is utilized to optimize the multi-objective trajectory of the welding robot based on path optimization results obtained from a three-layer step-by-step optimization algorithm.The algorithm identifies the Pareto optimal solution set,selects a suitable solution as the trajectory curve,and creates a virtual simulation model in Process Simulate to analyze accessibility,collision,and super-constraints indexes,thereby validating the trajectory feasibility.An experimental platform is built to verify the effectiveness of the proposed method.The three-layer step-by-step optimization algorithm outperforms the greedy algorithm by reducing completion time by 6.93%and energy consumption by 5.01%.It also surpasses the combination of fuzzy C-mean and ant colony algorithm by improving completion time by 4.53%and reducing energy consumption by 2.13%,demonstrating the superiority of this method.