The Research On Multi-DOF Robot Arm Motion Control Algorithm Based On Chaos Ant Colony Optimization

Mechanical arm is an important tool of a modern industry,which instead of people to do high-risk and flow operation,with the large number of applications of the industrial mechanical arm,effectively improve labor productivity and reduce costs,it is a national level of industrialization.Therefore,it is of great significance to the research and application of the high performance of motion control system of robotic arm,which is favored by expert and scholars.This paper sing the group intelligent bionics algorithm to save the inverse kinematics problem of the manipulator n.Firstly,the problem of kinematics inverse equation is transformed into the problem of finding the most value of the meta-function,that is,the three-dimensional function is reduced to a two-dimensional plane function,and then the corresponding relation between the established objective function and the motion path of the mechanical arm.The path-planning problem is transformed into the problem of maximizing the objective function.Based on this,it is proposing the path optimization method based on chaotic ant colony algorithm.In the application of basic ant colony algorithm and chaos theory,in the early stage of search,chaotic initialization of chaos theory is introduced to the basic ant colony algorithm,because of the pheromone content is the same in every path,the convergence rate is slow.Group algorithm accelerates speed of the basic ant colony algorithm.It is the chaos disturbance factor,real-time adjustment of pheromone update,effectively avoiding the basic ant colony algorithm.It is easy to fall into the local optimum in the search process.At the same time,the chaos ant colony algorithm not only improves the convergence speed,accuracy and heuristic,but also reduces the time complexity of the basic ant colony algorithm and solves the optimal path selection problem well.In the end,according to an example of the SR165 mechanical arm,the simulation experiment platform based on MATLAB Robotics Toolbox is set up,and the feasibility and superiority of the chaos ant colony algorithm are proved by simulation experiment and comparison with the simulation results of the basic ant colony algorithm.