A 6-DOF ROBOT-TIME OPTIMAL TRAJECTORY PLANNING-BASED MOPSO ALGORITHM

Abstract

: Time-optimal trajectory planning is a critical approach for enhancing work efficiency and decreasing expenses, and it holds significant relevance in real-world robot application scenarios.a novel approach  for efficiently planning the fastest path for a 6-degree-of-freedom robot by using a Multi-Objective Particle Swarm Optimization algorithm demonstrate in This paper. This work focus on optimizing multiple objectives concurrently, including minimizing trajectory time and ensuring smooth and efficient robot motion. The trajectory planning is based on both forward and inverse kinematics; create certain accurate and precise control over the robot's movement. The MOPSO algorithm is employed to search for optimal joint configurations, taking into account the conflicting nature of objectives such as minimizing time and maximizing efficiency. Through iterative optimization, the algorithm refines the trajectory parameters to achieve a well-balanced solution.The proposed system is validated through simulation studies, comparing its performance against existing trajectory planning methods. The results demonstrate the effectiveness of the Multi-Objective PSO algorithm in producing time-optimal trajectories for 6-DOF robots while maintaining smooth motion. The approach provides a promising solution for real-world applications, offering enhanced efficiency and adaptability in various robotic tasks.