中文摘要：

针对工业机器人的运动特点并考虑机器人焊枪的避障问题,提出了较为实用的几何避障焊接路径规划策略.采用Lévy飞行与粒子群算法（PSO）相结合的算法进行全局路径规划的优化,并与其他方法进行模拟仿真比较,以验证其合理性和可行性.结果表明,Lévy-PSO算法能够得到避障焊接路径最优解,且其寻优效果较为稳定,可用于解决点焊机器人避障路径规划问题.

英文摘要：

Considering the motion characteristics of industrial robot and obstacle avoidance of welding torch, the spot welding robot path planning with practical obstacle avoidance strategy was studied in this paper. The global path optimization was conducted based on the Levy-particle swarm optimization algorithm. The rationality and feasibility of the strategy was verified after simulation comparison with other methods. Finally, the optimal length of the welding path with obstacle avoidance was obtained by using the Levy-particle swarm optimization algorithm, which provided stable optimized results, and could be used to solve the path planning of spot welding robot.