Optimal motion planning method of manipulator based on hybrid honey badger algorithm
Aiming at the planning problem of the end-effector path and the trajectory in the joint space of the 6-DOF manipulator,an optimal motion planning method based on the hybrid honey badger algorithm and 3-5-3 polynomial interpolation is proposed to achieve the shortest movement path and the optimal joint movement time of the manipulator end-effector,and effectively reduce the difference between the optimized path and the planned path.Firstly,based on the standard honey badger algorithm framework,chaotic reverse learning,transfer operators,sine-cosine operators and adaptive perturbation coefficient strategies are used in initialization,global optimization and local exploration to improve the quality and optimization ability of the optimal solution.Based on this,a collision-free and shortest path planning method was designed for the end-effector of the manipulator to guide the joint trajectory planning process.Secondly,the hybrid honey badger algorithm is used to find the optimal motion time of each joint in the joint space.On this basis,two times 3-5-3 polynomial interpolation algorithm is used to complete the joint smoothing and time-optimal trajectory planning of the manipulator while satisfying the constraints of displacement,velocity and acceleration of each joint.Finally,through simulation comparison with other planning methods,it was verified that the method proposed in this article can shorten the length of the planned path,reduce the joint motion time,reduce the difference between the optimized path and the planned path,and the feasibility of this method was tested using the UR5 manipulator grasping experiment as an example.
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