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

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 kinematic...

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Bibliographic Details
Published in2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) pp. 554 - 559
Main Authors Ngoc Chi Nam Doan, Pey Yuen Tao, Wei Lin
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2016
Subjects
Collision avoidance
Kinematics
Linear programming
Optimization
Redundancy
Robots
Welding
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Summary: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.
DOI:10.1109/AIM.2016.7576826