Application of Genetic Algorithm with Gene Transplantation in Optimal Sequence Plan of Welding Robot

Based on the greed genetic algorithm(GGA)utilizing the operation of gene transplantation improves the performance of the traditional genetic algorithm.The new algorithm is called the greed genetic algorithm with gene transplantation(GGAGT).This algorithm is applied to find the global sequence plan when the industrial multi-joint manipulator is used in the welding.It is proved that the convergence of the result is improved and the range of the research is broadened while the scale of the group is not increasing and neither is the computation.And at the same time the algorithm quickens up the speed of convergence and makes the possiblity of leading to local convergence decrease.As is shown by the result of simulation and experiment,the GGAGT is effective and preponderant.