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

• 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
• ISSN: 1433-5298; 1614-7456
• DOI: 10.1007/s10015-022-00779-2

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.