Optimal Trajectory Planning for Robotic Arms Based on Improved Sparrow Algorithm
A time-optimal polynomial interpolation trajectory planning algorithm using an improved spar-row search algorithm is employed to enhance the efficiency and stability of the robotic arm.The algorithm′s capabilities in local search and global optimization were optimized by enhancing Sin chaos initialization of populations,dynamically adjusting the ratios of explorers and followers,and introducing cauchy-gaussian mutation.Taking the AUBO-i10 robot as the research subject,the positions of various joints at given end-ef-fector path points were first determined using inverse kinematics.Segment-wise polynomial fitting was ap-plied to approximate motion trajectories in the joint space.Under constraints related to the robot arm′s run-ning speed and joint angles,the improved sparrow search algorithm was utilized to optimize the time re-quired for the end-effector to traverse the trajectory.Simulations were conducted using MATLAB,followed by experimental analysis.The results indicate that the improved sparrow search algorithm has shown a sig-nificant improvement in convergence speed and optimization precision,effectively reducing the operational time of the robotic arm during its tasks.
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维普
