Optimal trajectory planning method of anchoring manipulator based on improved particle swarm optimization algorithm

In order to improve the efficiency and stability of anchoring manipulator, a time-series optimization trajectory planning method based on improved particle swarm optimization algorithm was proposed. This method is based on 3-5-3 piecewise polynomial interpolation. The key of optimization lies in the length of each segment. The PSO is upgraded by adaptive inertia weight and dynamic learning factor. Compared with the standard particle swarm optimization path, the simulation data confirm that the proposed method has better convergence speed and accuracy, avoids the local optimal trap, and achieves remarkable optimization results. Under this trajectory, the joint Angle, velocity and acceleration curves of the robot arm are smooth without abrupt change, which ensures the stable operation of the anchored robot arm and verifies the practicability of the scheme.