Robot Time Optimal Trajectory Planning Based on Improved Simplified Particle Swarm Optimization Algorithm

In order to tackle the robot trajectory planning problem with short running time as optimization goal, a time-optimal algorithm was presented based on improved simplified particle swarm (ISPSO). The robot’s constructed by 3-5-3 polynomial interpolation in joint space of robot. Under condition satisfying velocity constraint, objective function sum intervals between each node. ISPSO used optimize function. optimizing inertia weight updating method and introducing golden sine segmentation an operator. Compared other algorithms, had higher search accuracy. effectiveness proposed demonstrated through simulations using PUMA 560 industrial robot, which resulted 19% reduction compared algorithm. simulation results show that achieved under proved its superiority planning.