Abstract
Abstract With the development of industrial automation, it is crucial to use manipulators for efficient painting. To solve the problem of inefficient trajectory planning of manipulators in the point-to-point painting process, this paper proposes a time-optimal trajectory planning method based on an improved sparrow search algorithm. Initially, the standard D-H parameter method is used to establish the kinematic model of the manipulator. To ensure the continuity of each joint in the manipulator, a 3-5-3 polynomial interpolation function is utilized to construct the motion trajectory in joint space. Subsequently, the improved sparrow search algorithm is utilized to optimize the point-to-point motion trajectory of the manipulator with a constraint on motion time. Finally, simulations carried out in MATLAB demonstrated that the manipulator, which was optimized by using the improved sparrow search algorithm, exhibited a significant increase in motion efficiency compared to its pre-optimization state. Additionally, the movements of the manipulator’s joints were smooth.
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