A trajectory planning method of robotic manipulators based on an improved multi-objective particle swarm optimization algorithm

摘要

Abstract To address the issue of severe payload oscillations caused by excessive joint impact in the master manipulator during flexible object transportation (e.g., cables) using dual robotic manipulators under a master-secondary cooperative control strategy, a trajectory planning method for robotic manipulators was proposed in the study based on an improved multi-objective particle swarm optimization (IMOPSO) algorithm. A 3-5-3 polynomial was used to construct joint motion trajectories, with imposed position, velocity, and acceleration constraints. An optimization model was formulated by defining motion time and total joint impact as objective functions. The IMOPSO algorithm was applied to optimize these objectives, where a normalized weighting function converts the multi-objective problem into a single-objective framework to derive engineering-viable optimal solutions. The performance of the improved algorithm was demonstrated to outperform other algorithms through test functions and its generation distance (GD) and spacing metric (SP). Simulation results showed wellconverged Pareto fronts, confirming the feasibility of the proposed approach, and providing a new idea for the subsequent flexible material handling trajectory planning.