Time optimal trajectory planning of robot based on honey badger algorithm

Xiaogang Liu; Wenbo Gao; Yongzeng Li; Li Wei

doi:10.1117/12.3006215

10 October 2023 Time optimal trajectory planning of robot based on honey badger algorithm

Xiaogang Liu, Wenbo Gao, Yongzeng Li, Li Wei

Proceedings Volume 12799, Third International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2023); 127993S (2023) https://doi.org/10.1117/12.3006215
Event: 3rd International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2023), 2023, Kuala Lumpur, Malaysia

Abstract

Aiming at a point-to-point trajectory planning problem for industrial robots, we propose a method for time optimal optimization of trajectories in the robot joint space by employing the honey badger algorithm. Interpolation points at each joint are first acquired using robotic kinematics; Then, to enable the robot to smoothly complete the work task, a 4-5-4 piecewise polynomial is employed to interpolate its trajectory; Finally, we use the honey badger algorithm to optimize the interpolation time of the segmented polynomials to achieve the goal of optimal trajectory planning for the robot's time. The simulation through MATLAB software to obtain the change information of angular displacement, angular velocity and angular acceleration of each joint of the robot, under the restriction conditions that meet the kinematic parameters of the robot, the robot's motion time is shortened by 43.17% compared to that before optimization, which verifies the effectiveness of the honey badger algorithm in the optimization of robotic tracks.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiaogang Liu, Wenbo Gao, Yongzeng Li, and Li Wei "Time optimal trajectory planning of robot based on honey badger algorithm", Proc. SPIE 12799, Third International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2023), 127993S (10 October 2023); https://doi.org/10.1117/12.3006215

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