Robotic Arm Trajectory Planning Based on Improved Slime Mould Algorithm

摘要

The application of robotic arms in the industrial field is continuously becoming greater and greater. The impact force generated by a robotic arm in a gripping operation leads to vibration and wear. To address this problem, this paper proposes a trajectory planning method based on the improved Slime Mould Algorithm. An interpolation curve under the joint coordinate system is constructed by using seven non-uniform B-spline functions, with time and impact force as the optimization objectives and angular velocity, angular acceleration, and angular acceleration as the constraints. The original algorithm introduces Bernoulli chaotic mapping to increase the diversity of the population, adaptively adjusts the feedback factor, improves the crossover operator to accelerate the global convergence, and combines the original algorithm with an improved artificial bee colony search strategy guided by the global optimal solution, adding a quadratic interpolation method to increase the diversity of the population and to accelerate the global convergence speed. Combined with the improved artificial swarm search strategy guided by the global optimal solution, the quadratic interpolation method is added to enhance the local utilization ability. The simulation and real-machine experimental results show that the improved algorithm shortens the movement time of the robotic arm, reduces the joint impacts, minimizes the vibration and wear, and prolongs the service life of the robotic arm.