Research On Intelligent Path Planning Of Cooperative Manipulator Based On Artificial Intelligence Algorithm

The portability and intelligence of the collaborative robotic arm is very suitable for the industrial intelligence concept of human-computer cooperation and humancomputer interaction.The collaborative manipulator controlled by artificial intelligence algorithm fills in the shortcomings of traditional teaching industrial robots,and improves the work efficiency and safety of industrial production and various types of robots.This shows the importance of the collaborative robotic arm in today’s industrial digital transformation.This paper selects the six-degree-of-freedom collaborative robotic arm as the research object.The specific work content is as follows:(1)Use Solid Works2020 to model the mechanical model of the collaborative robotic arm.Design its connecting rod coordinate system and calculate its connecting rod parameters,and use the D-H method to deduce and model the forward kinematics of the manipulator.According to the kinematics model and forward kinematics conclusion,an inverse kinematics algebraic solution method that is more suitable for the manipulator in this paper is proposed.Finally,use Matlab and the robotics toolbox toolbox to perform visual simulation of the working space at the end of the manipulator,and check the forward and reverse kinematics results to ensure that the mathematical model and formula are derived correctly,which can be used later.(2)Based on intelligent bionic ants,a multi-strategy improved ant colony algorithm is proposed,which is applied to the path planning of the end of the collaborative manipulator.Consider from four aspects: enhancing the globality of the algorithm,avoiding blind search at the initial stage,accelerating the convergence speed of the algorithm,and ensuring the safety of pathfinding.A multi-strategy improved ant colony algorithm is proposed.Finally,the performance of the algorithm is successfully verified by Matlab.(3)Migrate the above intelligent algorithm from two-dimensional space to threedimensional space.Based on the difference between two-dimensional space and threedimensional space,the algorithm map,collision detection,and adjacency matrix are redesigned.The path is simulated with Matlab,and then the obtained end path is inversely solved by inverse kinematics to obtain the angles of each joint.Finally,the trajectory is optimized based on position,velocity,and acceleration with a quintic polynomial.(4)Use PQArt software for off-line programming hardware-in-the-loop simulation.In order not to let the algorithm verification remain at the theoretical level,a semiphysical working environment for path planning of a six-degree-of-freedom manipulator is established.The effectiveness of the algorithm is verified.