Abstract
To allocate welding tasks to multiple robots and find collision free paths for them, an approach of multi-robot motion planning and simulation based on genetic algorithm is proposed. Priorities of welding points are defined based on the sequence constraints of welding points. Welding points are allocated to multiply robots and the objective is to minimize the welding time of station. Adapted genetic algorithm is proposed to seek the optimized solution. The three dimension model of welding assembly line is built in eM-power software. The welding robots move along the allocated welding points in the virtual environment, which can find and settle collisions between two robots or between robot and parts, and free collision path is founded finally. Welding path simulation can sharply shorten the planning time for the task allocation of multiply robots.
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Acknowledgement
This work was supported by the National Science Foundation of China [51565058].
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Chao, Y., Sun, W. (2017). Motion Planning and Simulation of Multiple Welding Robots Based on Genetic Algorithm. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_18
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DOI: https://doi.org/10.1007/978-3-319-65298-6_18
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