Aug 2026· 2026 International Conference on Embodied Intelligence, Robotics, and Control Systems (EIRCS)· pp. 176-179· 0 citations· 12 references
Abstract
This paper proposes a time-optimal trajectory planning method for robotic arms based on an improved white whale optimization algorithm. Joint trajectories are constructed using 3-5-3 polynomial interpolation, with segment durations optimized under velocity, acceleration, jerk, and actuator-torque constraints. Low-discrepancy population initialization, nonlinear adaptive control parameters, and elite perturbation strategies are introduced to improve population diversity, exploration–exploitation balance, and local-optimum avoidance. Simulation results show that the proposed method achieves shorter motion time than the basic white whale optimization algorithm, particle swarm optimization, and genetic algorithm while satisfying all constraints. Full-factorial ablation experiments verify the effects and interactions of the improvement strategies. Compared with quintic NURBS interpolation, the proposed method provides better motion-time and computational efficiency, although NURBS yields smoother curvature variation.
To improve the operational efficiency of collaborative robots and ensure trajectory smoothness, a time-optimal trajectory planning method based on improved exponential optimization algorithm is proposed. Strategies including opposition based learning, dynamic population reduction, hybrid adaptive search, adaptive weigh...
Guo-Wang Hui, Zhu-Chu Ren· International Conference on...· 0 citations
To address path planning for robots in grid environments, this study develops an improved whale optimization algorithm by integrating several complementary search strategies. The proposed method combines mixed initialization, a nonlinear convergence factor, adaptive inertia weight, Lévy-flight perturbation, and an A*-b...
Experimental results show that the proposed method improves computational efficiency and reduces steering wheel accelerations and traveling wheel jerks, indicating the potential of the proposed approach for efficient and smooth trajectory planning in complex and highly maneuverable 4WIS-4WID robotic applications.
Feng-Lin Pang, Yutian Chen, Xiao-Bin Xu et al.· Proceedings of the Instituti...· 0 citations
Fruit-picking robotic arms face major challenges in trajectory planning, particularly when the number of path points varies. This study proposes a trajectory planning framework for multi-degree-of-freedom robotic arms by integrating 5-7-5 polynomial interpolation with model predictive control to generate smooth and dyn...
Bin-Bin Zhou, Hong-Bing Li, Jia-Wei Zhao et al.· Measurement science and tech...· 0 citations
Trajectory planning and trajectory optimization are the key technologies to realize the autonomous operation of intelligent robots. In order to solve the limitations of traditional manual teaching and offline planning in adapting to complex dynamic environments, insufficient movement smoothness and limited adaptability...
Yang-Hui Huang· Applied and Computational En...· 0 citations
Fixed-link manipulators have limited adaptability to changes in task locations and obstacle layouts, while sequential mechanism design and trajectory planning restrict their coordinated performance. This study proposes a surrogate-assisted bilevel optimization method for a four-degree-of-freedom PRRR variable-link-leng...
