A Multi-Objective Trajectory Optimization Algorithm for 7-DOF Robotic Arms

With the rapid advancement of robotics technology, robotic arms are increasingly required to execute precise tasks, such as industrial handling and human-robot collaboration. This work propose a novel multi-objective trajectory planning approach to ensure smooth and efficient motion for a 7-DOF robotic arm. Specifically, our method employs inverse kinematics to transform the trajectory from workspace to joint space, followed by a seventh-order B-spline function to generate a smooth trajectory. Then, we introduce Trajectory Competition Two-phase Framework Combined with NSGA-II (TToP) to optimal this trajectory, which solve the Pareto optimal solution set of the trajectory based on the robot constraints and select the optimal solution according to the task requirements. Experimental results demonstrate that the proposed method effectively generates high-quality trajectories that meet practical energy and time constraints.