Trajectory planning of 6-DOF manipulator based on spatial ant colony algorithm and obstacle avoidance

Moving in an environment with obstacles is a common operating condition for manipulators. How to adjust the obstacle avoidance planning path according to the position of obstacles in time is the key to achieving the safe operation of manipulators in obstacle environments. The trajectory of a 6- DOF manipulator is proposed to be planned using a spatial ant colony method. By establishing an improved D-H motion model to solve the forward and inverse kinematic equations, movement from a specified point to a specified point at the end of the manipulator is achieved. To create collision-free routes, a modified ant colony algorithm is paired with a collision detection technique. The position of each arm is determined by solving the inverse solution of the manipulator motion through the manipulator's end path nodes, collision detection is done to assess the viability of each set of inverse solutions, and then the obstacle avoidance path is obtained. The effectiveness and feasibility of this method for 6-DOF manipulator trajectory planning and obstacle avoidance are verified through simulation experiments.