改进鲸鱼优化算法在机械臂时间最优轨迹规划的应用

针对机械臂时间最优轨迹规划问题，提出一种改进鲸鱼优化算法的最优轨迹规划方法。首先把机械臂各个关节的角度、角速度、角加速度作为约束参数，在关节空间中采用五次多项式插值构造机械臂的轨迹，然后建立以机械臂运行时间最优为目标的目标函数，采用改进的鲸鱼优化算法（IWOA）来对时间进行优化，提高机械臂的运行效率。最后通过MATLAB进行仿真，结果表明，改进的鲸鱼优化算法相较于其它同类算法求解精度更高，收敛速度更快，并且经过IWOA和轨迹优化结合得到的机械臂的位移、速度和加速度曲线都是平滑的且没有明显的突变，验证了该轨迹规划方法的有效性。

Application of Improved Whale Optimization Algorithm in Time-optimal Trajectory Planning of Manipulator

An optimal trajectory planning method based on improved whale optimization algorithm is proposed in order to solve the time optimal trajectory planning problem of manipulator. Firstly, the trajectory of the manipulator is constructed by quintic polynomial interpolation in the joint space with the constrains in the kinematic limits of velocity, acceleration, and jerk. Then, the objective function is established to minimize the running time of the manipulator and the improved whale optimization algorithm (IWOA) is used to optimize the time to improve the operation efficiency of the manipulator. Finally, the MATLAB simulation results show that the improved whale optimization algorithm has higher solvingaccuracy and faster convergence speed than other similar algorithms, and the displacement, velocity and acceleration curves of the manipulator which were obtained by combining IWOA and trajectory optimization are smooth without obvious mutation, which verifies the effectiveness of the proposed trajectory planning method.