Trajectory planning of the shortest path and optimal time of the retort robot

There are problems such as labor-intensive and the need for a large number of experienced masters, and the replacement of labor by retort robots is the trend of wineries and technological development. Aiming at the trajectory planning problem of retort robot, an RUN optimization algorithm is proposed to optimize the trajectory of retort robot. First, the kinematic model of the robot is established. Secondly, the convergence speed of the ocean predator algorithm and the Rungekuta optimization algorithm in the trajectory planning of retort robot with the shortest path and the best time is compared; The 5-4-5 mixed polynomial is combined with the Rungekuta optimization algorithm for optimal time trajectory planning; Finally, the MPA algorithm is compared with the RUN optimization algorithm, which shows that the RUN optimization algorithm is more suitable for the trajectory planning of retort robot with the shortest path and the best time.