Time-optimal trajectory planning for manipulator based on an improved sparrow search algorithm
Year: 2024
Type: conference-paper
Abstract: With the development of industrial automation, it is crucial to use manipulators for efficient painting. To solve the problem of inefficient trajectory planning of manipulators in the point-to-point painting process, this paper proposes a time-optimal trajectory planning method based on an improved sparrow search algorithm. Initially, the standard D-H parameter method is used to establish the kinematic model of the manipulator. To ensure the continuity of each joint in the manipulator, a 3-5-3 polynomial interpolation function is utilized to construct the motion trajectory in joint space. Subsequently, the improved sparrow search algorithm is utilized to optimize the point-to-point motion trajectory of the manipulator with a constraint on motion time. Finally, simulations carried out in MATLAB demonstrated that the manipulator, which was optimized by using the improved sparrow search algorithm, exhibited a significant increase in motion efficiency compared to its pre-optimization state. Additionally, the movements of the manipulator’s joints were smooth.
Authors: Hanwen Xu, Wengen Gao, Jiaming Zhu, Guoqing Zhang
Institution: Anhui Polytechnic University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4401510044