In order to solve the dual-objective path optimization problem of arc welding robot, a complete and novel methodology is proposed, including modeling, collision-free path search and global path optimization. First of all, the grid method is utilized to accurately model the welding workpieces and surrounding environment. Afterwards, an adaptive extension bidirectional RRT* algorithm (AB-RRT*) is used to search for collision-free paths between any two weld seams. Finally, aiming to minimize path length and energy consumption, the global path is optimized through the improved discrete NSGA-III algorithm (IDNSGA-III). Simulation results show that the AB-RRT* algorithm can search for optimal or sub-optimal solutions with higher efficiency. The IDNSGA-III algorithm can properly maintain the trade-off between convergence and distribution. Furthermore, it can obtain satisfactory solutions in a shorter time and provide effective guidance and help for engineers to plan the actual path.

中文翻译：

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弧焊机器人双目标无碰撞路径优化


为了解决弧焊机器人的双目标路径优化问题，提出了一种完整而新颖的方法，包括建模、无碰撞路径搜索和全局路径优化。首先利用网格法对焊接工件及周围环境进行精确建模。然后，使用自适应扩展双向 RRT* 算法 (AB-RRT*) 搜索任意两个焊缝之间的无碰撞路径。最后，以最小化路径长度和能量消耗为目标，通过改进的离散NSGA-III算法（IDNSGA-III）对全局路径进行优化。仿真结果表明，AB-RRT*算法能够以较高的效率搜索最优或次优解。 IDNSGA-III算法能够很好地保持收敛性和分布性之间的权衡。并且能够在更短的时间内获得满意的解决方案，为工程师规划实际路径提供有效的指导和帮助。