In the practical application of industrial robots, efficiency and quality are important indicators to evaluate the performance of robots. In the continuous path path planning, reasonable path planning and time optimization are crucial to the efficient, accurate and reliable operation of industrial robots. In this paper, on the basis of consulting and analyzing the research of domestic and foreign experts and scholars on trajectory planning, the ant colony algorithm(ACA) is proposed and applied to the optimal time(OT) trajectory global planning of construction machinery robot(CMR) for research and analysis. the ACA is used to optimize the RT of the joints. The planning goal of the optimal RT of each joint of the robot is achieved. 

Yanwei Wang. Global Optimal Time Trajectory Planning of Construction Machinery Robot Considering Ant Colony Algorithm. Kinetic Mechanical Engineering (2022), Vol. 3, Issue 4: 29-36. https://doi.org/10.38007/KME.2022.030404.

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