Research on Path Planning Method of Dual Robot Based on kmeans-GA Algorithm

At present, the research on the path planning of dual robot welding mainly focuses on the path length, while the research on the welding time is less. To solve this problem, a path planning method based on kmeans clustering algorithm and genetic algorithm is proposed in this paper. The objective function of path planning is constructed by moving time and welding time during robot welding. Firstly, the algorithm is improved based on the clustering algorithm and solder joint time, and the balanced distribution of solder joint position and time is realized. Then, the running trajectory of a single robot is planned by GA(genetic algorithm). The simulation experiment of a car door panel welding shows that the path planning method in this paper can effectively reduce the working time of dual robot welding and achieve the purpose of optimal welding time.