Optimal redundancy resolution for robotic arc welding using modified particle swarm optimization

摘要

This paper presents an optimal redundancy resolution approach for a 6 degree-of-freedom (DOF) articulated welding robot for the objective of minimizing energy consumption while meeting the process requirements and satisfying all the kinematic constraints. By combining parameterized inverse kinematics in position domain and a modified particle swarm optimization (MPSO) with proposed searching constraints, an efficient redundancy resolution is realized for the required welding torch trajectories. The formulation begins with the parameterized inverse kinematics for the given robot. Then the welding torch angle is optimized for the entire welding range by the MPSO with the objective function that deals with the conditions of joint limits, collision avoidance, and energy saving problems. Finally, the effectiveness of the approach is demonstrated with cases of robotic welding for a complex joint structure.