Intelligent Trajectory Planning of a Robot Manipulator with Six Degrees of Freedom

摘要

Trajectory planning of a welding manipulator plays an important role in the study of industrial robot.In this paper,a D-H model is established for a robot manipulator with six degrees of freedom(6-DOF).Three intelligent optimization algorithms,namely ant colony,simulated annealing and tabu search algorithm,are then employed to find the shortest welding path.By planning the shortest path of the manipulator,analyzing the different characteristics of three kinds of intelligent optimization algorithm,it concluded the advantages and disadvantages of three kinds of intelligent optimization algorithms in different aspects.Simulation results show that the ant colony algorithm has the best accuracy and robustness,while simulated annealing algorithm has the highest probability of finding the shortest path.