Time Optimal Trajectory Planning Algorithm for Robotic Manipulator Based on Locally Chaotic Particle Swarm Optimization

作     者：DU Yuxiao CHEN Yihang DU Yuxiao;CHEN Yihang

作者机构：School of Automation Guangdong University of Technology 

出 版 物：《Chinese Journal of Electronics》 (电子学报(英文))

年 卷 期：2022年第31卷第5期

页      面：906-914页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 0808[工学-电气工程] 080202[工学-机械电子工程] 08[工学] 081104[工学-模式识别与智能系统] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China (61976059) 

主　　题：Robotic manipulator Polynomial interpolation Particle swarm optimization (PSO) Chaotic motion 

摘      要：Optimal trajectory planning is a fundamental problem in the area of robotic research. On the time-optimal trajectory planning problem during the motion of a robotic arm, the method based on segmented polynomial interpolation function with a locally chaotic particle swarm optimization(LCPSO) algorithm is proposed in this paper. While completing the convergence in the early or middle part of the search, the algorithm steps forward on the problem of local convergence of traditional particle swarm optimization(PSO) and improved learning factor PSO(IFPSO) algorithms. Finally, simulation experiments are executed in joint space to obtain the optimal time and smooth motion trajectory of each joint,which shows that the method can effectively shorten the running time of the robotic manipulator and ensure the stability of the motion as well.