Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator

Youtao Zhu; Zhiqin He; Wenye Shi

doi:10.16578/j.issn.1004.2539.2021.04.026

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Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator

Development·Application | 更新时间：2022-11-10

- Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator
- Journal of Mechanical Transmission Vol. 45, Issue 4, Pages: 160-165(2021)
- 作者机构：
  
  1.贵州大学电气工程学院，贵州贵阳 550025
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.04.026
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朱佑滔,何志琴,施文烨.多种群蚁群算法在机械手臂路径规划中的设计与应用[J].机械传动,2021,45(04):160-165.

Zhu Youtao,He Zhiqin,Shi Wenye.Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator[J].Journal of Mechanical Transmission,2021,45(04):160-165.
朱佑滔,何志琴,施文烨.多种群蚁群算法在机械手臂路径规划中的设计与应用[J].机械传动,2021,45(04):160-165. DOI： 10.16578/j.issn.1004.2539.2021.04.026.

Zhu Youtao,He Zhiqin,Shi Wenye.Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator[J].Journal of Mechanical Transmission,2021,45(04):160-165. DOI： 10.16578/j.issn.1004.2539.2021.04.026.

摘要

为了实现机械臂在复杂环境下准确、快速抓取目标物体，提出了一种多种群蚁群算法。首先，利用机械手臂运动学方法建立了数学模型进行分析；然后，根据自适应度函数不断调整机械臂的旋转角度以达到全局最优；最后，通过仿真实验，并与现有的机械手臂路径规划算法进行了对比。结果表明，该算法在抓取时间和精准度上具有一定的性能优势。

Abstract

In order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment， a multi-population ant colony algorithm is proposed.Firstly，a mathematical model is established and analy zed by using the kinematics method of manipulator. Then， the angles of the manipulator is adjusted according to the objective function to achieve the global optimization. Finally， through simulation experiment， compared with the present algorithm of path planning of manipulator，the simulation results show that the algorithm has more performance advantages in grasping time and accuracy.

关键词

多种群蚁群算法机械手臂路径规划机械臂运动学方法

Keywords

Multi-colony ant algorithmManipulatorPath planningKinematics method of manipulator

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