Abstract: The problem of robot processing path optimization for multi-contour parts was studied, and a new path planning algorithm based on the improved genetic algorithm and the minimum external triangle method was proposed. The genetic algorithm based on modified circle was applied to optimize the cutting path which selected arbitrarily, and an optimal contour sequence was found. The minimum external triangle method was used to seek the node as the tool entrance on each adjacent contour dynamically, and an optimal cutting path was constructed through several iterations in this way. Simulation results show that the cutting path for robot can be constructed effectively and the non-cutting path can be shortened by using the proposed algorithm.

Key words: robot processing, multi-contour, path optimization, the improved genetic algorithm, the minimum external triangle method