Robot trajectory planning method based on genetic chaos optimization algorithm

摘要

In order to smooth the trajectory of the robot end effector and optimize the running time of the robot, the paper presents a new robot trajectory planning method based on genetic chaos optimization algorithm. Firstly, the planned quintic polynomial is used to interpolate the position nodes in joint space to model the running trajectory of the robot. Subsequently, genetic chaos optimization algorithm based on genetic algorithm and chaos algorithm is introduced. Finally, it is proved that the novel method can make the running trajectory of the robot end effector smooth and time optimal under the constraints of velocity, acceleration and jerk through simulation and analysis.