Research on Optimal Design of Robotic Arm Joint Angle Path Based on Optimization Algorithms Article Swipe
YOU?
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· 2025
· Open Access
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· DOI: https://doi.org/10.54254/2755-2721/2025.26214
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 consumption model and targeting both error and energy consumption, the WOA-Monte Carlo hybrid algorithm provides [43.56, 57.16, 38.46, 67.52, 90, 0], with an error of 198 mm and energy consumption of 98.1 J; in obstacle avoidance scenarios, an A* algorithm first plans a collision-free base path, and then the same optimizer is called at each station, resulting in [44.73, 44.72, 38.53, 67.19, 89.62, 0.23], with performance comparable to previous results; for multi-objective grasping tasks, after A* generates a traversal path, each target is independently optimized, achieving a cumulative error of 510 mm and total energy consumption of 119 J. Experiments demonstrate that the integrated method of "D-H kinematics + A* base planning + WOA-MC joint optimization" significantly outperforms baseline approaches in terms of precision, energy consumption, obstacle avoidance, and multi-objective scenarios, showcasing strong potential for engineering applications.
Related Topics To Compare & Contrast
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.54254/2755-2721/2025.26214
- https://www.ewadirect.com/proceedings/ace/article/view/26214/pdf
- OA Status
- hybrid
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4413611681