Industrial Robot Trajectory Optimization Based on Improved Sparrow Search Algorithm
Fei Ma,
Weiwei Sun,
Zhouxiang Jiang
et al.
Abstract:This paper proposes an enhanced multi-strategy sparrow search algorithm to optimize the trajectory of a six-axis industrial robot, addressing issues of low efficiency and high vibration impact on joints during operation. Initially, the improved D-H parametric method is employed to establish both forward and inverse kinematic models of the robot. Subsequently, a 3-5-3 mixed polynomial interpolation trajectory planning approach is applied to the robot. Building upon the conventional sparrow algorithm, a two-dime… Show more
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