The Research of the Serial Manipulator Autonomous Path-Planning

For solving the problem of the serial manipulator autonomous path-planning, which is kinematics problem. An improved fuzzy control ant colony algorithm is put forward. This improved algorithm solves the inverse kinematics problem firstly, so that it can solve the problem of the serial manipulator autonomous path-planning. The improvement of the conventional ant colony algorithm, A fuzzy control intelligent pheromone updating method is added, this makes algorithm convergence increased, computing time shortened, accuracy improved. The problem of the serial manipulator autonomous path-planning is successfully solved. The experiment of PUMA560 serial manipulator autonomous path-planning is solved satisfactorily by the algorithm. Therefore, Practice has proved that the feasible method of the serial manipulator autonomous path-planning is presented by this paper.