Aiming at completing the time optimal trajectory planning of 6-DOF manipulator, a time optimal 3-5-3 piecewise polynomial interpolation trajectory planning algorithm based on annealing-particle swarm optimization algorithm (SAPSO) is proposed. The 3-5-3 piecewise polynomial interpolation method divides the trajectory of the manipulator into three segments. The first, second and third sections adopt cubic polynomial interpolation, quintic polynomial interpolation and cubic polynomial interpolation respectively. Firstly, four interpolation points are set, and the 6-DOF manipulator is interpolated by 3-5-3-degree polynomial. Then, the angle, angular velocity and angular acceleration of each joint of the manipulator are taken as constraint parameters, and the shortest running time of the manipulator is taken as project to be optimized, and SAPSO is used for optimization. Finally, the MATLAB simulation results show that SAPSO has higher accuracy and speed in the process of finding the shortest running time of the manipulator than PSO. At the same time, each joint is relatively stable in the running process.
The traditional rapid expansion random tree (RRT) algorithm has poor efficiency in the motion planning of the manipulator. Based on the traditional RRT algorithm, this paper introduces the target offset strategy in the process of expanding leaf nodes. When the algorithm falls into a local minimum, it will select the expansion point, so as to quickly break away from the minimum. The improved RRT algorithm and other algorithms are simulated in Mathematica. The experimental results show that the improved algorithm can guide the growth direction of the tree, improve the convergence speed of the algorithm, make it difficult to fall into local minimum, and improve the motion planning efficiency of the manipulator in simulation.
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