Time optimal trajectory planning based on simulated annealing algorithm for a train uncoupling robot

A train uncoupling robot with four degrees-of-freedom has been developed to replace humans in the uncoupling task in a marshalling field for designating freight cars to different destinations. This can avoid picking the wrong hook, improve work efficiency and reduce the workload of workers. Trajectory planning can ensure that the robot moves to target position smoothly and quickly. Simulated Annealing (SA) algorithm based on penalty function is proposed to get the optimal time of trajectory planning in this paper. Time optimal trajectories of robot joints are obtained under the constraints of maximum speed, maximum acceleration and maximum jerk speed. It can be seen from the simulation curves that the robot can move smoothly and there is no impact phenomenon.