Multi-station and multi-robot welding path planning based on greedy interception algorithm

摘要

Aiming at the multi-station and multi-robot coordinated welding task, the weld joints assignment, and welding path planning algorithm were studied. In this paper, the multi-constraint optimization problem is divided into four parts to reduce the complexity of each part, namely welding joint grouping, welding joint distribution, welding path planning, and optimize groups. To achieve the balance of welding tasks among multi-robot, a grouping algorithm based on distance ratio and a heuristic interception distribution algorithm are proposed. Based on the virtual centroid distance among the allocated weld joint groups, these groups were reassembled to reduce the possibility of interference. The simulation results show that the algorithm can realize the uniform distribution of weld joints and improve welding efficiency.