Optimization of the Operating Trajectory for Elevated Picking Robotic Arms

Xinwei Li; Haifeng Zhao

doi:10.6919/ICJE.202504_11(4).0032

Authors

Xinwei Li
Haifeng Zhao

DOI:

https://doi.org/10.6919/ICJE.202504_11(4).0032

Keywords:

Running Trajectory; Trajectory Optimization; Polynomial Interpolation Method; Particle Swarm Optimization Algorithm; D-H Method; MATLAB.

Abstract

A trajectory optimization method based on improved particle swarm optimization (PSO) algorithm and 3-5-3 segmented polynomial interpolation is proposed to address the problems of low efficiency and large shaking of the robotic arm in the elevated picking scene. Establish a kinematic model using the UR10 robotic arm and optimize interpolation parameters using an improved PSO algorithm to achieve trajectory planning in the shortest possible time. The simulation results show that the optimized running time is reduced by 11%, and the trajectory smoothness is significantly improved, which verifies the effectiveness of the method.

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