Study on Welding Path Planning of Welding Position Flock for Welding Robot Based on Improved Genetic Algorithm

2014 ◽  
Vol 602-605 ◽  
pp. 1332-1335
Author(s):  
Hong Wei Lv
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Mathematic Model ◽  
Welding Robot ◽  
Improved Genetic Algorithm ◽  
Complete Coverage ◽  
Six Degrees Of Freedom ◽  
Filial Generation ◽  
Full Rotation ◽  
Welding Position

With full rotation articulated ABB-IBR140-M2000 robot with six degrees of freedom used as welding robot, the exploring of efficient complete coverage of welding position flock is an important way of improving the performance of welding robot. Making use of improved genetic algorithm, in which the best father generation is saved and using ordered cross and reverse ordered mutation to constitute filial generation, and this method makes sure that the algorithms is convergent. The complete coverage of welding position optimization mathematic model whose objective is the minimum distance is established, making use of the improved genetic algorithm to solve the problem, an example is analyzed in detail, and the result shows that the algorithms is convergent and efficient.

Study on the Improvement of Genetic Algorithm by Using Vehicle Routing Problem

2013 ◽  
Vol 365-366 ◽  
pp. 194-198 ◽  
Author(s):  
Mei Ni Guo
Keyword(s):  
Genetic Algorithm ◽  
Optimal Solution ◽  
Mathematic Model ◽  
Simulation Software ◽  
Initial Population ◽  
Planning Problem ◽  
Improved Genetic Algorithm ◽  
Routing Problem ◽  
Search Speed ◽  
Vehicle Path

mprove the existing genetic algorithm, make the vehicle path planning problem solving can be higher quality and faster solution. The mathematic model for study of VRP with genetic algorithms was established. An improved genetic algorithm was proposed, which consist of a new method of initial population and partheno genetic algorithm revolution operation.Exploited Computer Aided Platform and Validated VRP by simulation software. Compared this improved genetic algorithm with the existing genetic algorithm and approximation algorithms through an example, convergence rate Much faster and the Optimal results from 117.0km Reduced to 107.8km,proved that this article improved genetic algorithm can be faster to reach an optimal solution. The results showed that the improved GA can keep the variety of cross and accelerate the search speed.

Three methods of training multi-layer perceptrons to model a robot sensor

Robotica ◽  
1995 ◽  
Vol 13 (5) ◽  
pp. 531-538 ◽  
Author(s):  
D. T. Pham ◽  
S. Sagiroglu
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Natural Vibration ◽  
Inertial Sensor ◽  
Input Pattern ◽  
Training Methods ◽  
Six Degrees Of Freedom ◽  
Marquardt Algorithm ◽  
Levenberg Marquardt ◽  
Working Principle

SummaryThis paper discusses three methods of training multi-layer perceptrons (MLPs) to model a six-degrees-of- freedom inertial sensor. Such a sensor is designed for use with a robot to determine the location of objects it has to pick up. The sensor operates by measuring parameters related to the inertia of an object and computing its location from those parameters. MLP models are employed for part of the computation. They are trained to output the orientation of the object in response to an input pattern that includes the period of natural vibration of the sensor on which the object rests. After reviewing the working principle of the sensor, the paper describes the three MLP training methods (backpropagation, optimisation using the Levenberg-Marquardt algorithm, evolution based on the genetic algorithm) and presents the experimental results obtained.

scholarly journals An Integrated Method for Modular Design Based on Auto-Generated Multi-Attribute DSM and Improved Genetic Algorithm

Symmetry ◽  
2021 ◽  
Vol 14 (1) ◽  
pp. 48
Author(s):  
Shuai Wang ◽  
Zhongkai Li ◽  
Chao He ◽  
Dengzhuo Liu ◽  
Guangyu Zou
Keyword(s):  
Genetic Algorithm ◽  
Degrees Of Freedom ◽  
Modular Design ◽  
Product Information ◽  
Evaluation Criteria ◽  
Automatic Programming ◽  
Improved Genetic Algorithm ◽  
Modular Architecture ◽  
Integrated Method ◽  
Electromechanical Products

Modular architecture is very conducive to the development, maintenance, and upgrading of electromechanical products. In the initial stage of module division, the design structure matrix (DSM) is a crucial measure to concisely express the component relationship of electromechanical products through the visual symmetrical structure. However, product structure modeling, as a very important activity, was mostly carried out manually by engineers relying on experience in previous studies, which was inefficient and difficult to ensure the consistency of the model. To overcome these problems, an integrated method for modular design based on auto-generated multi-attribute DSM and improved genetic algorithm (GA) is presented. First, the product information extraction algorithm is designed based on the automatic programming structure provided by commercial CAD software, to obtain the assembly, degrees of freedom, and material information needed for modeling. Secondly, based on the evaluation criteria of product component correlation strength, the structural correlation DSM and material correlation DSM of components are established, respectively, and the comprehensive correlation DSM of products is obtained through weighting processing. Finally, the improved GA and the modularity evaluation index Q are used to complete the product module division and obtain the optimal modular granularity. Based on a model in published literature and a bicycle model, comparative studies are carried out to verify the effectiveness and practicality of the proposed method.

A manipulator size optimization method based on dexterous workspace volume

Cobot ◽  
2022 ◽  
Vol 1 ◽  
pp. 3
Author(s):  
Yuanhai Huang ◽  
Zhi Li ◽  
Kefan Xing ◽  
Haoqin Gong
Keyword(s):  
Genetic Algorithm ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Optimization Method ◽  
Size Optimization ◽  
Maximum Volume ◽  
Six Degrees Of Freedom ◽  
Working Point

Background: Manipulators for robots are required to have high manipulability for adaptability in different tasks. However, general methods for designing manipulators with high manipulability are deficient. Here, aiming at improving the manipulability of the six degrees-of-freedom (DOF) manipulator, a method for optimizing structure size parameters based on the dexterous workspace volume is proposed. Methods: Firstly, the kinematic analysis of the manipulator is performed. Then, the manipulability of the single working point of the manipulator is judged based on reachability in different postures. The workspace of the manipulator is discretized to obtain the volume of the overall dexterous workspace. By taking the maximum volume of the dexterous workspace as the optimization goal, Genetic Algorithm (GA) is used to optimize the structure size parameters to achieve optimal manipulability. AUBO 6-DOF manipulator is defined and analyzed as an example. Results: The optimization results indicate that the dexterous workspace of the manipulator expands in volume and its manipulability is improved. The validity of the proposed optimization method is verified by comparing the distribution of dexterous workspace of the manipulator. Conclusions: This article proposes an optimization method for the structure size parameters of a 6-DOF manipulator, which can be implemented to improving the manipulability of the manipulator.

scholarly journals Research on the Optimization of the Vibration Reduction Seat Based on Genetic Algorithm

2015 ◽  
Vol 9 (1) ◽  
pp. 882-886
Author(s):  
Zhen Chen ◽  
Xinya Chen ◽  
Yang Zhao
Keyword(s):  
Genetic Algorithm ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Optimal Parameter ◽  
Vibration Reduction ◽  
Main Body ◽  
Practical Application ◽  
Six Degrees Of Freedom ◽  
Damping Effect ◽  
Parameter Values

Adopting the parallel mechanism as the main body of the seat and the active joints with spring damping elements as the vibration actuator, we established the damping seat model with the parallel mechanism of six degrees of freedom 3-PRPS. To achieve good damping effect, the damping space and flexibility of the mechanism were improved by affecting the velocity matrix with branched speed built by vectors. Optimal parameter values were obtained by genetic algorithm. Finally, results were synthesized and verified to provide an important theoretical basis for the practical application of the mechanism.

Trajectory Planning Research of the Filter Shell Special Arc Welding Robot

2013 ◽  
Vol 706-708 ◽  
pp. 1103-1107
Author(s):  
Ling Wang ◽  
Xin Qing Fan ◽  
Fu Yan Qi ◽  
Wan Hua Wei
Keyword(s):  
Coordinate System ◽  
Detailed Analysis ◽  
Trajectory Planning ◽  
Arc Welding ◽  
Degrees Of Freedom ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Connecting Rod ◽  
Six Degrees Of Freedom ◽  
Simulation Results

The detailed analysis of the structure and paramerers of the connecting rod is put forward by using the improving D-H method to establish the link coordinate system and the kinematics equation, based on the special filer shell arc welding robot with six degrees of freedom designed. Therefor, the correctness of the kinematics equation is verified though the simulation of Matlab function with the robotics toolbox. The anasysis simulation results show that the rationality of the robot structure that based on the kinematics analysis, is feasible.

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