マルチロボット溶接における溶接経路の最適化

抄録

Multi-robot systems have been introduced actively in heavy industry in order to increase the productivity. However, since the configuration of workpiece is complex due to multi-kind small lot production especially in shipbuilding and in multi-robot systems robots are disposed as densely as possible in a working area to get high productivity, collision between adjacent robots could occur. Because the collision prevents effective production, collision occurrence should be avoided. This paper reduces the problem of minimization of total welding time subject to collision/deadlock avoidance among multi-robots to a path optimization one, and solves it through genetic algorithm (GA). Its effectiveness is shown by numerical simulations with practical workpieces. Furthermore, a two-step GA algorithm is proposed, where the welding path of the maximal loaded robot is optimized first and then those of other robots are optimized.