Joints Trajectory Planning of Robot Based on Slime Mould Whale Optimization Algorithm

The joints running trajectory of a robot directly affects it’s working efficiency, stationarity and quality. To solve the problems slow convergence speed weak global search ability in current commonly used joint optimization algorithms, planning method based on slime mould whale algorithm (SMWOA) was researched, which could obtain within short time with low energy consumption. On basis analyses (WOA) (SMA) detail, SMWOA proposed by combining two methods. By adjusting dynamic parameters introducing weights, increased probability obtaining optimal solution. optimized results 15 benchmark functions verified that accuracy is clearly better than other classical algorithms. An experiment carried out this applied to optimization. Taking 6-DOF UR5 manipulator as an example, show reduced 37.674% compared before efficiency motion improved. This study provides theoretical for engineering fields.