An Optimization Method for Multi-Robot Automatic Welding Control Based on Particle Swarm Genetic Algorithm

摘要

This paper introduces an optimization method for multi-robot automated control welding based on a Particle Swarm Genetic Algorithm (PSGA), aiming to address issues such as high costs, large footprint, and excessive production cycles in multi-robot welding production lines. The method first constructs a multi-axis robotic kinematic model to provide constraint conditions. Then, the PSO (particle swarm optimization) algorithm, which integrates penalty functions into the fitness evaluation, is used to determine the optimal welding path by simulating collective behavior within a group. The GA (genetic algorithm) encodes the position of the welding robot bases into chromosomes to find the optimal layout for coordinated control of multiple robots. The entire process is optimized according to welding standards and requirements. Additionally, a comprehensive production line performance estimation model was used to quantitatively analyze the new scheme. The results show that the optimized production line’s balance rate increased by 10%, the balance loss rate decreased by 10%, the smoothness index increased by 37.8%, the space costs reduced by 44.4%, the equipment demand reduced by 41.1%, the labor demand reduced by 50%, the total costs reduced by 10%, and the average product cycle time was reduced by 5.07 s. Finally, we tested the algorithm in various complex scenarios and compared its performance against mainstream algorithms within the context of this study. The results demonstrated that the optimized production line significantly improved efficiency while maintaining safety standards.