Optimizing forward kinematics of a 6-DOF robotic arm for precision and efficiency

Abstract Based on the given initial Denavit-Hartenberg (D-H) parameters, the forward kinematics model of the manipulator is established in this paper. By solving the inverse kinematics, the joint angular path of the manipulator is optimized to minimize the end error. By using the particle swarm optimization (PSO) algorithm, the joint Angle combination which minimizes the position error of the end-effector is successfully found, and the effectiveness of the optimization algorithm is verified. Then, the mass and end load of the arm (a total of 5kg), as well as the moment of inertia and average angular velocity of each joint are further considered. By introducing energy consumption calculations, a multi-objective optimization problem is constructed to minimize both end error and energy consumption. Through the complex optimization strategy, the energy consumption of the manipulator is effectively reduced while keeping the end error low.