Improved Particle Swarm Optimization for Trajectory Planning in a Six-Degree-of-Freedom Robotic Arm

摘要

Aiming at the problem of the UR5 robot's unsmooth trajectory during operation, in order to improve the robot's motion accuracy and operation efficiency, this paper proposes a joint space trajectory planning method based on 3-5-3 piecewise polynomial interpolation, which can better meet the speed and acceleration constraints of the robot in different motion stages while ensuring the smoothness of the trajectory, thereby improving the operation stability of the robot. Under the conditions of satisfying the speed and acceleration constraints, the improved particle swarm optimization (PSO) algorithm with the introduction of compression factor and improved adaptive factor is used to optimize the interpolation time of the robot. Compared with the traditional PSO algorithm, the improved PSO algorithm is not easy to fall into the local optimum, making the trajectory planning more efficient. The experimental results show that the improved PSO algorithm not only significantly shortens the operation time of the robot, but also makes the trajectory smoother and the overall operation effect better.