A Study of Six-Axis Robotic Arm Movement Based on Bionic Optimization Algorithm

Abstract

With the increasing industrial deployment of robotic arms, the society is in urgent need of research on autonomous path planning of robotic arms. In this paper, firstly, its coordinate system and kinematic model were established according to the control principle of six-axis robotic arm. Secondly, the method of Lagrange interpolation was used to achieve the smooth connection of the robotic arm track, and the genetic algorithm (GA) and particle swarm optimization (PSO) were leveraged based on the principle of bionic optimization, respectively. At the same time, the objective function was defined as the action path of the robotic arm to be solved, and the robotic arm can reasonably avoid obstacles under the established working conditions. Finally, the path planning simulation of six-axis robotic arm under two bionic optimization algorithms was carried out by using MATLAB, and the path planning under several different working conditions was compared respectively, and the action trajectories of the robotic manipulator under the established simulation conditions were obtained by simulation calculation, which verified the feasibility and validity of such algorithms.