Research on motion trajectory planning of the robotic arm of a robot

The emergence of robots has replaced repetitive manual labor, and good robotic arm route planning can effectively improve work efficiency. This paper briefly introduced the motion model and trajectory planning method of robotic arms. The motion trajectory of robot arms was optimized by the genetic a...

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Bibliographic Details
Published in:Artificial life and robotics 2022-08, Vol.27 (3), p.561-567
Main Authors: Miao, Xinghua, Fu, Huansen, Song, Xiangqian
Format: Article
Language:English
Subjects:
Angular acceleration
Angular velocity
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Convergence
Genetic algorithms
Mechatronics
Original Article
Particle swarm optimization
Physical work
Robot arms
Robot dynamics
Robotics
Route planning
Trajectory planning
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Summary:The emergence of robots has replaced repetitive manual labor, and good robotic arm route planning can effectively improve work efficiency. This paper briefly introduced the motion model and trajectory planning method of robotic arms. The motion trajectory of robot arms was optimized by the genetic algorithm-improved particle swarm optimization (PSO) algorithm, and simulation experiments were carried out. The results showed that the improved PSO algorithm converged faster and had the lowest fitness after stable convergence; the arm had continuous and smooth changes in angle, angular velocity and angular acceleration and consumed the shortest time while moving on the route planned by the improved particle swarm algorithm, and the improved PSO algorithm took the shortest time to compute the route.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-022-00779-2