Research on motion planning of 6-DOF manipulator based on optimization algorithm

This study focuses on the motion planning of a 6DOF robot arm in complex task scenarios, and deeply explores the key issues such as kinematic modeling, joint Angle path optimization, energy consumption minimization, and obstacle avoidance. By constructing the inverse kinematics model, using particle swarm optimization algorithm, combining mixed integer linear programming and A * algorithm, multi-objective genetic algorithm and hierarchical optimization strategy, the efficient motion planning of robot arm under different task requirements is realized. The research results show that the proposed model and algorithm significantly improve the performance and energy efficiency of the robot arm, which provides strong support for its wide application in industrial automation and other fields.