Trajectory Planning of Manipulator Based on Improved Sine Cosine Optimization Algorithm
To improve the efficiency of the manipulator as much as possible,a time-optimal 3-5-3 polyno-mial interpolation trajectory planning algorithm based on the improved positive cosine algorithm was pro-posed,which optimizes the local exploitation capability of the algorithm by dynamically adjusting the bal-ance factor according to the fitness,and enhances the global search capability of the algorithm by introdu-cing Lévy flight.Taking the UR5e robot as the research object,the polynomial interpolation trajectory was obtained by using robot kinematics;under the constraints of angle,angular velocity and angular accelera-tion,the trajectory interpolation time is optimized by using the improved sine cosine algorithm;simulation experiments are conducted by MATLAB software,and experimental comparison is made with other optimi-zation algorithms.The results show that the improved sine cosine algorithm has a faster convergence speed and higher optimization-seeking accuracy,which can effectively reduce the running time of the manipulator.
NETL
NSTL
万方数据
维普
