Robot Welding Route Planning in Car-Body Welding Process Based on Genetic Algorithm

摘要

A genetic algorithm combined with graph theory was proposed for solving the problem of welding route planning in car body-in-white manufacture.By regarding the welding point and tool center point frame as spatial point to establish relationship graph,transforming constraint factors into directed relationship matrix and using minimum motion distance of welding gun as object function,a traveling salesperson problem model was established.Generation of legal initial population and processing of selection,cross and mutation genetic operators were based on directed relationship matrix.MATLAB language was used to program.Taking the welding route planning of the deck lid repair welding station as example,planning result shows that welding route is reasonable and this scheme has been implemented successfully in engineering.