基于改进PSO算法的采摘机械臂时间最优轨迹规划

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中图分类号：S225；TP242 文献标识码：A 文章编号：2095-5553（2025）12-0057-06

Abstract：Inordertoimprove theoperation eficiencyof the manipulatorintheagricultural picking processand the optimizationspeedof theoptimizationalgorithm，anoptimizationalgorithm basedon theimprovedPSOalgorithm was proposed.Firstly，the model of theroboticarmis establishedandthe working spaceis analyzed，andthen the picking path points are interpolated by the 3-5-3 piecewise polynomial，and the starting and ending velocities and accelerations ofthe roboticarm arecontroled tobeOatthetimeof picking，soas toobtain acontinuous and stable trajectory.The improvedPSOalgorithmisused tooptimizetheinterpolatedtrajectory，andthetimeoptimal trajectoryisobtainedwith the goalof timeoptimization.Thecomparativeexperimentsareconducted withthegeneticalgorithm，thestandard particle swarmalgorithmandother improved particle swarm optimization algorithms.Finally，the six-axis picking manipulator arm was taken as theresearch objectto verifythe efectiveness of the algorithm through the apple picking test.Theresults showed that the proposed method reduced the picking time by about 34% compared to before optimization，and increased the picking speed by 53% compared to the standard PSO.

Keywords：picking robotic arms；hybrid piecewise polynomial；trajectory planning；PSO algorithm

0 引言

化采摘致损率高等问题[1，2]。（剩余8715字）