Collision-Free Trajectory Optimization of Manipulator Based on Black-Winged Kite Algorithm

Abstract

Aiming at the requirement of global obstacle avoidance for each link of the manipulator, an obstacle avoidance trajectory planning method based on the Black-winged Kite Algorithm (BKA) was proposed. Firstly, the envelope model of the obstacle and the manipulator was simplified, and the collision detection problem was transformed into the problem of calculating whether the distance between the center of the obstacle envelope model and each joint was too large. Secondly, the trajectory planning was carried out by using cubic polynomial, and the trajectory curve was adjusted by adjusting the cubic coefficient to meet the obstacle avoidance demand. Finally, the BKA was used to optimize the time of the motion trajectory, and the running time of the manipulator was reduced under the premise of meeting the working demand. The simulation results of MATLAB showed that this method could plan a trajectory that could meet the collision-free requirements of each link of the robot arm, and the movement time of the robot arm was greatly shortened, which could ensure that the robot arm could complete the task smoothly and efficiently in actual production.