3D Trajectory Planning of Manipulator Based on Ant Colony Algorithm

Aiming at the problem that the factory needs to assemble different parts, the ant colony algorithm was used to find a shortest path from many feasible trajectories through multi-objective search as the running trajectory of the manipulator. The obtained path can minimize the movement time of the manipulator and improve the work efficiency. The three-dimensional simulation model of the workspace was established by the grid method, and the simulation was carried out by MATLAB. The results shown the effectiveness of the ant colony algorithm.