Wheeled welding robot design and seam tracking simulation based on optimization models

Abstract

Given the pose adjustment and path planning of the welding mobile robot during seam tracking process, mobile welding robot and welding torch are studied. Kinematics modeling of the mobile welding robot is established, which is constrained with the slider moving area, welding torch length and so on. And then, physical System is designed and multi-objective optimization model is presented with the aims of improving the accuracy and velocity of seam tracking. According to the characteristics of seam tracking, a genetic algorithm is designed, including coding structure definition, the initial population generation and establishing the fitness function. The simulation is studied on MATLAB and the results demonstrate the effectiveness in the velocity and accuracy.