Coordinated trajectory planning for robotic manipulators based on improved black widow optimization algorithm

Purpose To address the potential collision issue among multiple robotic manipulators in a shared workspace, this paper aims to propose a coordinated trajectory planning method based on improved black widow algorithm (IBWA) and Tau-E. The discussion encompasses trajectory planning for multiple manipulators, collision detection and coordination. Design/methodology/approach The BWA is improved by introducing decay factor and crossover variation. The selection of control points is conducted using IBWA, and Tau-E smoothens the trajectories between control points. The segment-by-segment collision detection is carried out, where the collision situations are categorized into three types. Collision-free coordinated trajectory planning is facilitated by dynamically adjusting the motion states and priorities of robotic manipulators based on collision detection. Findings With this method, coordinated trajectory planning for multiple robotic manipulators in a shared workspace can be carried out to avoid collisions. The experiment shows that this method can be applied to multiple robotic manipulators, and the generated trajectories are smooth and collision-free. Originality/value The convergence speed of BWA is increased, and the search capability is improved. The robotic manipulators are coordinated to avoid collisions based on collision detection results. This method can be applied to multiple robotic manipulators, improving work efficiency and space utilization.