Research on the Path Planning of Hair-Insertion Robot Arm Based on Ant Colony Optimization

摘要

Due to the complex geometric characteristics (shape, curvature) and topological construction of the head-shaped triangular mesh surface, it is difficult to plan the path of the robot arm. Therefore, the TSP model based on the thought of surface fragmentation was proposed in this paper. Then, in order to minimize the energy consumed in the operation of robot arm, a system of equations with kinematics and dynamics equations as constraints and an energy consumption function as objective function is established. And the traditional algorithms are transformed into an ant colony optimization to plan the path. At last, simulation experiments are carried out on the platform of Matlab software, which verify that the ant colony optimization on the path planning of hair-insertion robot arm is effective and feasible.