Energy-optimal Trajectory Planning Of Six Dof Robot Arm For Planting Hair

With the development of science and technology,the application of robots in industry is more and more extensive,covering various fields,such as automobile manufacturing,mechanics,construction,material welding,spraying,wig manufacturing and so on.The heavy labor of workers are replaced,the cost of production is reduced and many dangers to workers are avoided.In this paper,the trajectory planning of robot arm for planting hair is mainly carried out with the goal of energy optimization,including the kinematics analysis,the dynamics analysis,the head model surface segmentation planning and the ant colony algorithm.First,the purpose and significance of this research are described in detail,and the types and functions of industrial robots are briefly summarized.The research status of the path planning and the robot arm for planting hair are analyzed in detail.Second,the problem of kinematics is analyzed.The D-H parameter coordinate system of the implanting robot arm is established,and the kinematics equation is deduced in detail.Then we deduce the inverse kinematics matter and get the optimal way.Finally,the correctness of the kinematic equation and the effectiveness of the optimal inverse solution are verified by experiments using MATLAB.Third,the dynamics of the robotic arm is analyzed.The correctness of Lagrange is verified by the two-degree-of-freedom robot.Finally,the dynamic equation of the implanted robot arm is established by using this method.Fourth,research on segmentation planning of modes surface.According to the geometric characteristics of Gaussian curvature,principal curvature and mean curvature of the mesh surface,the K-means clustering algorithm is used to segment the piece,and the feasibility and effectiveness of the algorithm are verified by MATLAB simulation.Finally,two new hair transplanting modes of TSP type and push type are designed and introduced.Fifth,the energy function of the implanting robot arm is established,and the energy optimal problem is analyzed.The ant colony algorithm is used to replace the traditional mathematical method and the ant colony algorithm is improved.Finally,a lot of experiments are carried out on the basic ant colony algorithm and the improvedant colony algorithm using MATLAB software.The stability,accuracy and rapidity of the improved ant colony algorithm are verified by the experimental results and the performance evaluation indexes.