Time-optimal trajectory optimization of serial robotic manipulator with kinematic and dynamic limits based on improved particle swarm optimization

• Published in: International journal of advanced manufacturing technology Vol. 120; no. 1-2; pp. 1253 - 1264
• Main Authors: Yang, Yu, Xu, Hong-ze, Li, Shao-hua, Zhang, Ling-ling, Yao, Xiu-ming
• Format: Journal Article
• Language: English
• Published: London Springer London 01.05.2022; Springer Nature B.V
• Subjects: Algorithms; Angular acceleration; Angular velocity; CAE) and Design; Computer-Aided Engineering (CAD; Continuity (mathematics); Controllers; Convergence; Engineering; Industrial and Production Engineering; Industrial robots; Interpolation; Kinematics; Manipulators; Mechanical Engineering; Media Management; Motion control; Optimization; Original Article; Particle swarm optimization; Polynomials; Robot arms; Robotics; Trajectory optimization; Trigonometric functions; Second-order continuous polynomial interpolation function; Particle swarm optimization with cosine-decreasing weight; Kinematic and dynamic limits; Time-optimal trajectory planning

Effective motion control could achieve the accurate positioning and fast movement of industrial robotics to improve industrial productivity significantly. Time-optimal trajectory optimization (TO) is a great concern in the motion control of robotics, which could improve motion efficiency by providin...