Research on Trajectory Planning Method of Manipulator Based on Modified Dung Beetle Optimization Algorithm
The ABB IRB 120 robotic arm is chosen as the research subject,and arm link coordinate systems and DH parameters are established.Building upon a given kinematic foundation,the improved dung beetle optimization algorithm is applied to optimize 4-3-4 piecewise polynomial optimal trajectories.Finally,the improved dung beetle optimization algorithm and particle swarm optimization algorithm are compared,and the fitness curve of the manipulator joint is obtained.Simulation results demonstrate that,compared to the particle swarm algorithm,the modified dung beetle optimization algorithm significantly enhances optimization precision and convergence speed,markedly shortens the operational time of the robotic arm,and reduces impacts and vibrations during the arm's operation.
Dung Beetle OptimizationDH parameterskinematicsCircle chaotic mappingpiecewise polynomialtrajectory optimizationrunning time
万方数据
维普
