2018 VOL.1 Feb No.1

• Title: Research on algorithm of six-degree-of-freedom manipulator following the end trajectory
• Name: Cornelia Freckmann
• Company: University of Glasgow, England
• Abstract:

  Under the current robot arm trajectory motion algorithm, the arm movement takes a long time, the stability coefficient is low, and the obstacle avoidance accuracy is poor. Based on particle swarm optimization, the six-degree-of-freedom manipulator follows the end trajectory motion algorithm. Through the analysis of the kinematics positive solution and the inverse kinematics of the manipulator, the desired pose of the manipulator is obtained, and the trajectory motion analysis of the manipulator is realized. With the short movement time, the high accuracy of obstacle avoidance and the stability of stability, the manipulator follows the end trajectory motion model. The model is substituted into the particle swarm algorithm to solve the model, and the parameters such as the initial position and velocity of the particle swarm are set, and the particle swarm fitness function is calculated to obtain the current optimal solution. It is judged whether the current optimal solution is a global optimal solution, and the optimal planning result of the robot arm following the end trajectory motion is obtained. Experiments show that the manipulator moves under the algorithm with short time, the average obstacle avoidance accuracy is 95%, and the stability coefficient is high. The algorithm can effectively solve the problems existing in the current algorithm and has practicality.

• Keyword: Six degrees of freedom; Mechanical arm; End trajectory motion; Particle swarm;
• DOI: 10.12250/jpciams2018010114
• Citation form: Cornelia Freckmann.Research on algorithm of six-degree-of-freedom manipulator following the end trajectory[J]. Computer Informatization and Mechanical System, 2018, vol. 1, pp. 32-38.

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