面向时间最优的机械臂平滑轨迹规划方法研究OA

To enhance operational efficiency and ensure motion smoothness,a smooth trajectory planning method based on an improved sparrow search algorithm was proposed for the time-optimal trajectory planning problem in the joint space of manipulators.First,a time-optimal trajectory optimization model was established using non-uniform rational B-splines.Subsequently,the characteristics and limitations of the sparrow search algorithm were analyzed,corresponding improvement strategies were proposed,and a time-optimal smooth trajectory planning method for manipulators was constructed to search for the optimal trajectory execution time.Simulation and experi-mental results demonstrate that the proposed method improves runtime by 33%compared to traditional algorithms.Furthermore,the jerk remains at low levels,indicating good trajectory smoothness.The proposed method is suit-able for industrial scenarios with high repetitiveness,enabling efficient and smooth trajectory planning for manipu-lators.The findings of this paper provide a theoretical foundation and technical support for efficient automated op-erations of industrial robots and motion control in intelligent manufacturing systems.