Optimization of Industrial Robot Automatic Pick-Up Trajectory Based on IWOA Method
In order to further improve the pickup efficiency of industrial robots,an improved whale algorithm(IWOA)was designed and successfully applied to the pickup trajectory optimization.The IWOA method was used to optimize the joint position with the shortest time as the optimization goal.The results show that the maximum time value of each trajectory is taken as the final setting time,and the total time after optimization of IWOA method is.7.31s less than that before optimization.After the optimization of IWOA method,the curve of joint position is smooth and there is no mutation,which maximizes the kinematic performance of the industrial robot and realizes the smooth and fast pick-up movement.This method can be used as a reference for industrial robots to realize the time optimal control of moving goods.
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