An Arc Welding Task Planning Method Based on Improved Non-dominated Sorting Genetic Algorithm

Abstract

In order to provide a low-cost, fast and effective solution for dual-robot cooperative welding problem, a novel task planning method based on improved non-dominated sorting genetic algorithm II (INSGA-II) is proposed. The optimization model of dual-robot collaborative welding task planning is established considering actual welding process constraints and dual optimization objectives of the shortest no-load path and minimum working time. Then, three chromosomes coding strategy and adjustment operator are introduced to improve the non-dominated sorting genetic algorithm II (NSGA-II). Finally, INSGA-II is implemented to plan some typical welds of a large complex component. The simulation demonstrates that INSGA-II can plan weld paths meeting process constraints for two robots. Particularly, the INSGA-II can obtain better Pareto front compared with three other algorithms.