Time-Optimal Trajectory Planning of Hoisting Manipulator

Aiming at the problem of time-optimal trajectory planning for hoisting manipulator, the improved particle swarm optimization algorithm is used to optimize the trajectory of 3-5-3 polynomial interpolation planning. First, based on the established kinematics model of hoisting manipulator, reducing the track running time, polynomial interpolation is used to plan the joint space trajectory. Secondly, the improved particle swam optimization algorithm with dynamically changing learning factor is used to optimize the joint space trajectory, which improves the work efficiency while meeting the joint angular velocity and acceleration constraints. Finally, Matlab simulation experiments are carried out, and the results verify the feasibility and effectiveness of the optimization algorithm.