Joint Trajectory Time Optimization of Cobot Based on Particle Swarm Optimization

摘要

Abstract In order to improve the working efficiency of the robot and make the welding quality of the part of skin group improved greatly. We Researched on the end trajectory of the Cobot. In the application scenario of Friction Stir Welding (FSW) test bench, an algorithm of joint space trajectory is proposed according to the kinematics characteristics of the robot and the practical application needs.Based on particle swarm optimization (PSO), the motion trajectory of robot joint is fitted by high order polynomial interpolation. While ensuring the end trajectory, the stability of the joint motion is guaranteed. The simulation experiment is carried out by using MATLAB software. The joint space optimal motion planning is realized. The comparison algorithm is verified by experiments. According to the experimental results, the particle swarm optimization algorithm improves the efficiency of the cooperative robot significantly. It is helpful to the end stability of friction stir welding robot.