Research on Six Degree of Freedom Robot Trajectory Planning Method Based on Improved Ant Colony Algorithm

Wang Jisen
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Abstract

With the rapid development of intelligent manufacturing, the control technology of industrial robots has been upgraded gradually, and the traditional six-degree-of-freedom industrial robots' teaching and control method can no longer meet the needs of industrial production. In order to make the robot adapt to the complex and changing environmental space and complete the established work smoothly and efficiently, this paper establishes the robot kinematic model and organizes the parameters using MD-H modelling method for the kinematic analysis problem of six-degree-of-freedom industrial robots, and improves the ant colony algorithm for the motion path planning problem of six-degree-of-freedom industrial robots, which improves the industrial robot production efficiency
基于改进蚁群算法的六自由度机器人轨迹规划方法研究
随着智能制造的快速发展,工业机器人的控制技术逐步升级,传统的六自由度工业机器人的教学和控制方法已经不能满足工业生产的需要。为了使机器人能够适应复杂多变的环境空间,顺利高效地完成既定的工作,本文针对六自由度工业机器人的运动学分析问题,采用MD-H建模方法建立了机器人的运动学模型并组织了参数,对蚁群算法进行了改进,求解了六自由度工业机器人的运动路径规划问题。哪些提高了工业机器人的生产效率
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