This paper takes a six-degree-of-freedom robotic arm as the research object and proposes a unified framework for "joint angle path optimization": First, a zero-position precise kinematic model is established using D-H parameters; then, four typical working conditions are sequentially solvedunder only precision constraints, the Whale Optimization Algorithm (WOA) yields joint angles [97.34, 103.88, 13.55, 21.68, 94.19, 89.49] in a single search, with an end-effector error of 2.510 m; when introducing an energy consu…