3D trajectory planning for a 6R manipulator robot using BA and ADAMS

Abstract

In this article we will study the end effector motion control for a series robot with 6 rotational joints to move on a predetermined 3-dimensional trajectory. Since for any end effector there are more than a single set of answers regarding to robot parts orientation, finding a method which gives designer all existing states will lead to more freedom of action. Two different methods were used to solve robot inverse kinematic. In the first method ADAMS software was considered, which one of the common software is in order to solve inverse kinematic problems. Then bee algorithm (BA) is used which is an intelligent method. This method is the one of the fastest and most efficient method among existing method for solving non-linear problems. Hence problem of inverse kinematic solution is transformed into an affair of optimization. Comparison of results from both models shows the reasonable performance of BA method in solution of robot inverse kinematic because of its capability in providing the answer from all existing states along with the privilege of no need to 3D modeling. © 2013 Springer Science+Business Media Dordrecht.