Computer Science ›› 2023, Vol. 50 ›› Issue (11A): 220900284-8.doi: 10.11896/jsjkx.220900284

• Artificial Intelligence • Previous Articles     Next Articles

Time Optimal Trajectory Planning of Manipulator Based on Improved Butterfly Algorithm

ZHOU Mingyue, ZHOU Mingwei, LIU Guiqi, CHEN Chao   

  1. School of Computer Science and Engineering,Changchun University of Technology,Changchun 130000,China
  • Published:2023-11-09
  • About author:ZHOU Mingyue,born in 1980,Ph.D,associate professor.Her main research interests include nonlinear optimization and wireless communication.
    LIU Guiqi,born in 1986,Ph.D.Her main research interests include wireless network location technology and so on.
  • Supported by:
    Key Projects of Jilin Provincial Department of Education(JKH20210754KJ).

Abstract: Aiming to plan the trajectory of the manipulator,common practice makes the drive device meet the actual load requirements,the velocity and acceleration of each joint will be relatively conservative in the selection.As a result,it takes too long to complete a set of actions,so that the continuity and smoothness of the manipulator based on motion speed and acceleration cannot be fully exerted.In order to solve the problem of optimal selection of the velocity and acceleration of each joint of the manipulator,a time-optimal trajectory planning method of the manipulator based on the improved butterfly algorithm is proposed.Firstly,the 3-5-3 polynomial interpolation algorithm is used to construct the motion trajectory of the robotic arm of AUBO-i5 six-degree-of-freedom manipulator.Then,the butterfly optimization algorithm introducing Levi flight and sine cosine algorithm is used to optimize the time of the motion trajectory,which reduces the running time of the robotic arm on the premise of meeting the work requirements.Simulation results show that,compared to similar algorithms,the improved butterfly algorithm is not easily trapped in local optimization and has higher optimization accuracy.The improved butterfly algorithm is applied to trajectory planning,and the run times of the robotic arm is significantly reduced,which can ensure that the robotic arm can the task smoothly complete and efficiently in actual production.

Key words: Robotic arm, Time optimal trajectory planning, Improved BOA, 3-5-3 polynomial

CLC Number: 

  • TP241
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