Optimum method of working assignment in some welding robots with genetic algorithm

摘要

Deals with the optimisation of the task assignment of welding robots working cooperatively. In shipbuilding, in order to weld an assembling part to the bridge beam, etc. by using many welding robots efficiently in a short time, it is important to optimize the task assignment of these welding robots. In this paper, we propose a method to optimize the task assignment with a genetic algorithm. In order to obtain not only the efficient task assignment of the welding robot but also a good welding result, the knowledge of welding in order to prevent heat deformation and union defects are added to the fitness parameters of the genetic algorithm, and this welding knowledge is used to create the initial population of the genetic algorithm, because the time to search for the optimum answer is short. The validity of this proposed method was verified by performing some simulated experiments of simple work with two robots.