Robot Trajectory Planning Based on Improved Particle Swarm Optimization Algorithm

Abstract

In order to shorten the running time of the robotic arm and improve its stability, a time optimal trajectory planning algorithm based on improved particle swarm optimization algorithm is proposed for joint space. Firstly, the kinematic model of the robotic arm is established using the D-H method, and the interpolation points of the robotic arm path are obtained through inverse kinematics. Then, the joint space motion trajectory of the robotic arm is fitted using a 3-5-3 polynomial. Under the maximum speed constraint, establish a fitness function with the goal of time optimization, optimize trajectory through improved particle swarm optimization algorithm, and obtain position, velocity, and acceleration curves through simulation. The results show that the improved algorithm can shorten the operating time of the robotic arm and improve the efficiency of the robotic arm in completing the predetermined actions.