关键词: 机械臂, 轨迹规划, 粒子群优化算法, 多项式插值, 增广拉格朗日乘子法

Abstract: Currently,in the shipbuilding industry,robotic arm welding operations have gradually replaced traditional manual labor.To improve the working efficiency and stability of robotic arms,a time-optimal trajectory planning method for robotic arms based on the Terminal Crossover and Steering-based Particle Swarm Optimization (TCSPSO) algorithm was proposed. First,a 5-7-5 polynomial interpolation function was constructed to fit the motion trajectory in the joint space of the robotic arm,with the goal of optimizing the robotic arm′s motion time,and a constrained optimization model was established. Then,the Augmented Lagrange multiplier Method was applied to convert the constrained optimization problem into an unconstrained one. To avoid local optima,the TCSPSO algorithm was used to solve the problem. Finally,simulation experiments were conducted in MATLAB software,resulting in the optimal motion time and smooth trajectory of the robotic arm. The results indicate that this method can effectively shorten the motion time of the robotic arm while ensuring its stability during movement.

Key words: manipulator, trajectory planning, Particle Swarm Optimization (PSO) algorithm, polynomial interpolation, Augmented Lagrange multiplier Method (ALM)