Time-optimal trajectory planning of a six-degree-of-freedom robotic arm based on improved PSO algorithm

Abstract

To increase the working efficiency of the robotic arm and its stability, a 3-5-3 polynomial interpolation trajectory optimization algorithm based on the improved particle swarm algorithm is proposed for the time-optimal planning problem of a 6-DOF robotic arm. The improved particle swarm optimization algorithm improves the algorithm's global search ability and local search ability by nonlinearly and dynamically adjusting the size of inertia weights and learning factors. The improved particle swarm algorithm is used to optimize the robotic arm motion trajectory in the shortest time under the constraints such as speed. The research results show that the optimized particle swarm algorithm has higher optimization accuracy and faster convergence speed, and the overall running time of the robotic arm optimized by the improved algorithm is shorter, which verifies the effectiveness of the algorithm. And through the matlab software for robotic arm simulation experiments, to verify the reliability of the time-optimized robotic arm trajectory.