Welding robot welding path planning method under welding line segment midpoint traversal

The invention discloses a welding robot welding path planning method under welding line segment midpoint traversal. The method comprises the steps that S1, parameters are initialized; s2, generating a welding line segment set; s3, generating a midpoint set; s4, generating a first generation midpoint path solution set; s5, updating the pheromone concentration between two points in the midpoint set; s6, generating a new generation of midpoint path solution set; step S7, judging whether an iteration condition is met or not, if not, skipping to step S5, and otherwise, executing step S8; s8, obtaining an optimal path solution in the whole iteration process; s9, sorting the welding line segment set; s10, establishing a welding path solution set; s11, a welding path solution is collected; and a motion track more suitable for the welding robot is generated. 本发明公开了一种焊接线段中点遍历下的焊接机器人焊接路径规划方法，通过步骤S1：参数初始化；步骤S2：生成焊接线段集合；步骤S3：生成中点集合；步骤S4：生成第一代中点路径解集合；步骤S5：更新中点集合内两点之间的信息素浓度；步骤S6：生成新一代的中点路径解集合；步骤S7：判断是否满足迭代条件，不满足则跳转到步骤S5，否则执