An Improved Whale Optimization Algorithm for Robot Time-jerk Optimal Trajectory Planning

Abstract

Abstract Optimal path planning in the welding process enhances the processing and manufacturing efficiency. An effective algorithm for optimum path planning of a six-axis welding industrial robot is established in this paper. The robot’s trajectory is constructed using 5-th B spline interpolation in the joint space, and a cost function is constructed in terms of both time and mean jerk. An improved whale optimization algorithm (IWOA) is presented to address the time-jerk optimal trajectory planning issue. The robot’s joint positions are considered the IWOA input, while the MATLAB 2018b software is utilized to perform the optimization algorithm. Numerical simulations demonstrate that IWOA can effectively reduce the jerk of the robot while improving its work efficiency.