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《Robot》 2006-03
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Research on the Placement of Manipulator in Arc Welding Application

HE Guang-zhong,GAO Hong-ming,ZHANG Guang-jun,WU Lin(National Key Laboratory of Advanced Welding Production Technology,Harbin Institute of Technology,Harbin150001,China)  
This paper presents a method to solve the problem of manipulator placement in which the simulated annealing genetic algorithm(SA-GA) is adopted.The principle of SA-GA is introduced.Multiple kinematics criteria is presented and the objective function is constructed which are used in the optimal process.Finally, the algorithm is tested and its results are satisfactory.
【CateGory Index】: TP242
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