To enable the robotic arm to complete tasks quickly while satisfying kinematic constraints during its move-ment,an optimal time trajectory planning method for robotic arm based on improved Tuna Swarm Optimization(TSO)algorithm was proposed,which was optimized on the standard TSO algorithm and improved by employing the tent chaotic population initialization and Levy flight.An adaptive threshold was introduced to improve the per-formance of the algorithm.A mathematical model for time optimization objectives was established by taking 6-de-gree-of-freedom serial manipulator as the research subject,and a 3-5-3 blended polynomial interpolation function was employed as the foundation for trajectory planning.Experimental results showed that the improved TSO algo-rithm had higher optimization accuracy and a more robust ability to escape local optimal solutions than the original algorithms.The optimized robotic arm's displacement,velocity and acceleration curves were smooth and free from abrupt changes,which indicated that the improved TSO algorithm could effectively achieve optimal time trajectory planning for the robotic arm.
关键词
改进金枪鱼群算法/混沌种群初始化/莱维飞行/自适应阈值/轨迹规划
Key words
improved tuna swarm optimization algorithm/chaotic population initialization/Levy flight/adaptive threshold/trajectory planning
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