Time optimal trajectory planning of manipulator based on annealing-particle swarm optimization algorithm

Aiming at completing the time optimal trajectory planning of 6-DOF manipulator, a time optimal 3-5-3 piecewise polynomial interpolation trajectory planning algorithm based on annealing-particle swarm optimization algorithm (SAPSO) is proposed. The 3-5-3 piecewise polynomial interpolation method divides the trajectory of the manipulator into three segments. The first, second and third sections adopt cubic polynomial interpolation, quintic polynomial interpolation and cubic polynomial interpolation respectively. Firstly, four interpolation points are set, and the 6-DOF manipulator is interpolated by 3-5-3-degree polynomial. Then, the angle, angular velocity and angular acceleration of each joint of the manipulator are taken as constraint parameters, and the shortest running time of the manipulator is taken as project to be optimized, and SAPSO is used for optimization. Finally, the MATLAB simulation results show that SAPSO has higher accuracy and speed in the process of finding the shortest running time of the manipulator than PSO. At the same time, each joint is relatively stable in the running process.