Six-DOF Manipulator Obstacle Avoidance Path Planning Based On Improved Ant Colony Algorithm

Under the background of China's manufacturing of 2025,China's manufacturing industry has set off a research upsurge of intelligence and unmanned robot with robot as the core.Due to the particularity and complexity of the working environment of the manipulator,how to realize its accurate and effective obstacle avoidance path planning is a key technical problem for the manipulator,which seriously restricts the application and development of the manipulator.As one of the most widely used in the manufacturing of robots,six-degrees-of-freedom mechanical arm has a complicated structure,flexible motion,reliable operation and high universality and other characteristics,which has a strong representative.so this paper took ABB1410 models of six degrees of freedom mechanical arm as the research object,investigated its kinematics,collision detection method and the improved ant colony algorithm of obstacle avoidance path planning algorithm was studied,the main research content is as follows:1)Kinematics analysis of the mechanical arm.The structure characteristics of the six-degrees-of-freedom manipulator were analyzed,the motion model of the manipulator was constructed by D-H method,the forward and inverse kinematics equations of the manipulator were derived by using the space coordinate transformation principle,and the results were verified by MATLAB software.2)Research on collision detection methods.In view of the mechanical arm in collision detection problem in the process of movement,some collision detection methods were analyzed.Combined with the structural characteristics of the manipulator,a collision detection algorithm based on the cylindrical and rectangular envelope method was proposed.By solving the geometric relationship between the manipulator and the obstacle model,the collision detection between the manipulator and the obstacle was realized.3)Research on path planning algorithm of mechanical arm obstacle avoidance based on improved ant colony algorithm.Aiming at the disadvantages of slowconvergence speed and poor optimization results of ordinary ant colony algorithm,a series of improvement strategies such as fused particle swarm optimization algorithm were proposed,which improved the comprehensive performance of the improved algorithm.The grid method was used to construct the environment model and the 3D path planning of the improved ant colony algorithm was realized.In order to extract the path nodes,the quadratic b-spline curve was used to smooth the planning path,By solving the inverse kinematics of the manipulator,the corresponding multi-group joint rotation angles were obtained,and then the combination of the optimal joint rotation angles was finally determined by combining the collision detection algorithm,so as to realize the obstacle avoidance path planning of the manipulator.4)Simulation and experimental verification.The virtual prototype of the robot arm was established by using Adams software,then the obstacle avoidance path planning method proposed in this paper was simulated,and the physical prototype of the robot arm was built for action demonstration.Experimental results showed that the obstacle avoidance path planning method proposed in this paper can realize the optimal path planning when the manipulator's own connecting rod and both of them can avoid the space obstacles.