Application of Optimal Algorithm on Trajectory Planning of Mechanical Arm Based on B-Spline Curve
Tong Ying Guo, Feng Li, Kuan Huang, Feng Zhong Zhang, Qun Feng · Applied Mechanics and Materials · 2013
In order to improve the efficiency and practicality of trajectory planning of the mechanical arm, making the trajectory smooth and continuous, the method of B-spline curve of trajectory planning is adopted. Considering the three contraint conditions: the speed, the acceleration and the change rate of acceleration, the time interval of each curve is optimized using PSO (particle swarm optimization) algorithm. Simulation results show the PSO algorithm can reduce the time interval of each curve. This means that this method can effectively improve the operating efficiency of the mechanical arm.