Abstract

Mechanisms are crucial for the accomplishment of manufacturing and industrial procedures. An important factor for their operation is the integration of path planning algorithms to optimize the trajectory of the end effector. The path planning algorithms ensure that the mechanism’s trajectory avoids the obstacles and simultaneously minimizes its length. The effectiveness of the artificial fish swarm algorithm in 3D path planning cases is examined. The generated paths are designed to be applied to spatial mechanisms. Their effective implementation is examined by the execution of the resulting path using an industrial robotic arm in real-world scenario.

Keywords:Artificial intelligence; Path planning; Mechanisms; Spatial mechanisms; Artificial fish swarm algorithm; Industrial robotic arm; 3D path planning