Time-Optimal Trajectory Planning of Industrial Robots Based on Particle Swarm Optimization

摘要

Industrial robots have been widely used in industrial manufacturing. Minimum time trajectory planning can make the industry robot motion moves more quickly and smoothly. In this paper, the trajectory planning using particle swarm optimization (PSO) to search the time-optimal solution for industrial robots was adopted. The 4-3-4 polynomial interpolation trajectory planning method has the shortcoming of high exponent and no convex hull, so it's difficult to optimize by the traditional optimization methods. In this paper, particle swarm optimization (PSO) was used to optimize the 4-3-4 polynomial interpolation trajectory planning. It can make up for the shortcomings of polynomial interpolation method. Computer simulations and experiments show that method can make industrial robots run quickly and smoothly.