In response to the complex working environment and narrow workspace of hydraulic rock drilling robots,a hybrid algorithm based on improved ant colony algorithm and particle swarm algorithm is proposed to achieve the goal of multi working conditions,high speed,and high precision operation of the robot for trajectory planning of the hydraulic rock drilling robot arm.A kinematic model of the hydraulic rock drilling robot arm was established based on the D-H parameter method,and the model was simulated and analyzed using MATLAB/Simulink.By analyzing the simulation results,it can be concluded that the hybrid algorithm can smooth the motion trajectory of the robotic arm,reduce energy consumption during the motion process,and improve the robot's motion efficiency,thus verifying the feasibility of the hybrid algorithm in trajectory planning of hydraulic rock drilling robots.
hydraulic rock drilling robotmechanical armkinematicstrajectory planning
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