Research on Multi-Objective Path Planning for a Six-Degree-of-Freedom Robotic Arm

As the robotic arm carries out its work, each joint will experience angle changes, and the continuous sequence of these angles over time is also called the joint angle path. This study focuses on the joint angle path optimization and energy consumption control problem of a six-degree-of-freedom robotic arm. Based on the kinematic model with D-H parameters, a multiobjective optimization framework is established with the objectives of minimizing the end error and optimizing the energy consumption by solving the end position through the transformation matrix. For the multi-objective task, Monte Carlo simulation is used to determine the workspace, integrating base path planning and joint angle co-optimization. The study shows that the method significantly reduces energy consumption while ensuring end positioning accuracy, provides a systematic solution that balances accuracy and energy efficiency for efficient deployment of robotic arms in industrial scenarios, and is of practical guidance for optimal control of intelligent equipment.