A Study of Six Degrees of Freedom Welding Robot Path Planning Based on Genetic Algorithms

摘要

In this paper, modeling is planned on the basis of characteristics of six degrees of freedom welding robot. According to the characteristics of the genetic algorithm, the modeling take the advantage of the most representative weighting method of multi-objective optimization design method to weigh all the performance requirements and determine the fitness function, and to plan an optimal trajectory capable of keeping the arm of welding robot from multiple obstacles and meeting the requirements of exercise time, track length, kinematics and dynamics at the same time.