Optimal Trajectory Planning of Manipulator With Improved Firefly Algorithm

In order to improve the working efficiency and motion stability of the robot, a time-pulsation optimal trajec-tory planning method based on improved firefly algorithm and B-spline interpolation was proposed in joint space. First, a series of desired path points of the manipulator were set according to the task requirements, corresponding joint angles were obtained by inverse kinematics, and quintic non-uniform B-spline interpolation curve functions were constructed to ensure the continuity of the interpolation curve C4. Under the premise of considering motion constraints, the weight coefficient of optimization function is constructed by using the improved firefly algorithm and the use weight method, and the Pareto optimal solution set is ob-tained by taking time-pulsation optimization as the index. The simulation results of six-degree-of-freedom AUBO-I5 robot show that the trajectory planning method can construct smooth trajectory well and the pul-sation curve is continuous and the average pulsation is small, which verifies the effectiveness of the scheme.