Multi-Objective Trajectory Planning for Robotic Arms Based on MOPO Algorithm

摘要

This research describes a multi-objective trajectory planning method for robotic arms based on time, energy, and impact. The quintic Non-Uniform Rational B-Spline (NURBS) curve was employed to interpolate the trajectory in joint space. The quintic NURBS interpolation curve can make the trajectory become constrained within the kinematic limits of velocity, acceleration, and jerk while also satisfying the continuity of jerk. Then, based on the Parrot Optimization (PO) algorithm, through improvements to reduce algorithmic randomness and the introduction of appropriate multi-objective strategies, the algorithm was extended to the Multi-Objective Parrot Optimization (MOPO) algorithm, which better balances global search and local convergence, thereby more effectively solving multi-objective optimization problems and reducing the impact on optimization results. Subsequently, by integrating interpolation curves, the multi-objective optimization of joint trajectories could be performed under robotic kinematic constraints based on time–energy-jerk criteria. The obtained Pareto optimal front can provide decision-makers in industrial robotic arm applications with flexible options among non-dominated solutions.