关键词: 快速焊接, RRT算法, 运动规划, 碰撞检测

Abstract:

The rapid and smart manufacturing is the key technology in the current customizing manufacture, especially on multispecies but small amount. A rapidly welding design method was developed using an advanced RRT algorithm. This new method could be divided into task composer and motion planer. The task composer was built to finish more welding lines without moving the frame. And the motion planer was built to calculate the best route without collision from the origin point to the target using less time. This method is verified about five times faster than the current best practices allowed in the task composing and in the route design speed.

Key words: rapidly welding, rapidly-exploring random tree(RRT) algorithm, routing design, collision detection