Design and Application of Multi-colony Ant Algorithm in Path Planning of Manipulator

Abstract

In order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment， a multi-population ant colony algorithm is proposed.Firstly，a mathematical model is established and analy zed by using the kinematics method of manipulator. Then， the angles of the manipulator is adjusted according to the objective function to achieve the global optimization. Finally， through simulation experiment， compared with the present algorithm of path planning of manipulator，the simulation results show that the algorithm has more performance advantages in grasping time and accuracy.

Keywords

• Multi-colony ant algorithm;Manipulator;Path planning;Kinematics method of manipulator