基于改进鲸鱼算法的焊锡机械臂时间最优轨迹规划OA

Targeting at the problem of time-optimal trajectory planning of the robotic arm for repairing missing solder joints of three-degree-of-freedom PCB boards,a trajectory planning method based on the improved whale optimization algorithm is proposed.Firstly,the 3-5-3 polynomial is used to interpolate the trajectory of the manipulator to ensure the smoothness of the running trajectory of the ma-nipulator.Then,the algorithm is optimized for ordinary whales,and the population is homogenized by using Tent chaos mapping.Adap-tive weight parameters are introduced to adjust the search strategy.By introducing nonlinear convergence factors,the whale optimization algorithm is improved,which enhances its global search ability and accelerates the convergence speed.In addition,an adaptive probabil-ity threshold is introduced to prevent the algorithm from falling into the local optimal solution,and finally the improved whale algorithm is obtained,and the algorithm is used to plan the time-optimal trajectory of the robotic arm,and then compared with the PSO and initial WOA algorithms.Based on the experimental results,it is observed that the improved whale algorithm shows a significant improvement in convergence speed and accuracy.In addition,the improved whale algorithm is not prone to fall into local optimal solution,and the opti-mized joint kinematic curve is smooth and there is no mutation.