Robotic arm trajectory optimization based on multiverse algorithm
Junjie Liu, Hui Wang, Xue Li, Kai Chen, Chaoyu Li
Abstract
For inefficient trajectory planning of six-degree-of-freedom industrial manipulators, a trajectory planning algorithm based on an improved multiverse algorithm (IMVO) for time, energy, and impact optimization are proposed. The multi-universe algorithm has better robustness and convergence accuracy in solving single-objective constrained optimization problems than other algorithms. In contrast, it has the disadvantage of slow convergence and quickly falls into local optimum. This paper proposes a method to improve the wormhole probability curve, adaptive parameter adjustment, and population mutation fusion to improve the convergence speed and global search capability. In this paper, we modify MVO for multi-objective optimization to derive the Pareto solution set. We then construct the objective function by a weighted approach and optimize it using IMVO. The results show that the algorithm improves the timeliness of the six-degree-of-freedom manipulator trajectory operation within a specific constraint and improves the optimal time, energy consumption, and impact problems in the manipulator trajectory planning.