Trajectory Planning of Manipulator on Enhanced Sparrow Algorithm

For the time optimization problem in joint-space trajectory planning of robotic arms, we propose an improved Sparrow Search Algorithm that takes into account the arm's motion constraints. The algorithm aims to achieve time-optimal trajectory planning, effectively improving time efficiency. The approach incorporates two-dimensional chaos to increase initial population diversity and avoid premature convergence. Additionally, the inclusion of Levy flight and adaptive weight enhancement algorithms improves optimization accuracy and prevents local optima trapping. The study focuses on the time-optimal joint motions using a 3-5-3 order polynomial. Experimental results demonstrate that the time-optimized 3-5-3 polynomial interpolation curve exhibits continuous smoothness and achieves approximately 31% reduction in overall motion time compared to the pre-optimized trajectory, highlighting the feasibility and effectiveness of the proposed method for six-axis robotic arms.