Proceedings of the 2025 7th International Conference on Civil Engineering, Environment Resources and Energy Materials (CCESEM 2025)

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Optimal Time-Optimal Trajectory Planning for Robotic Arms based on Improved Particle Swarm Optimization

Authors
Weimin Zhang1, *, Hao Peng1
1School of Mechanical Engineering, Tongji University, 201804, Shanghai, China
*Corresponding author. Email: iamt@tongji.edu.cn
Corresponding Author
Weimin Zhang
Available Online 16 December 2025.
DOI
10.2991/978-94-6463-902-5_46How to use a DOI?
Keywords
Robotic Manipulator; Time-Optimal; Trajectory Planning; Particle Swarm Optimization
Abstract

Addressing the challenge of optimal-time trajectory planning for a STEP SD7/700 robotic manipulator subject to joint constraints, traditional interpolation methods suffer from low efficiency, while conventional PSO algorithms are prone to premature convergence, resulting in suboptimal trajectory planning times. This paper proposes an improved PSO algorithm incorporating a nonlinear learning factor, adaptive inertia weight, and a simulated annealing mechanism. First, a robotic manipulator joint-space trajectory planning model is constructed based on a 3-5-3 piecewise interpolation method, and a time optimization objective function considering kinematic constraints is established. Second, the conventional PSO algorithm is enhanced through: (1) a dynamically adjusted nonlinear learning factor strategy to strengthen local search capabilities in the early iterations and enhance global exploration in later stages; and (2) the introduction of a simulated annealing mechanism to leverage its probabilistic escape characteristic and avoid entrapment in local optima. Comparative analysis conducted on a Matlab simulation platform demonstrates that the proposed algorithm exhibits significant advantages in convergence speed and global optimization performance compared to traditional PSO, PSOCF algorithms, achieving a 46.09% reduction in trajectory time.

Copyright
© 2025 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the 2025 7th International Conference on Civil Engineering, Environment Resources and Energy Materials (CCESEM 2025)
Series
Advances in Engineering Research
Publication Date
16 December 2025
ISBN
978-94-6463-902-5
ISSN
2352-5401
DOI
10.2991/978-94-6463-902-5_46How to use a DOI?
Copyright
© 2025 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Weimin Zhang
AU  - Hao Peng
PY  - 2025
DA  - 2025/12/16
TI  - Optimal Time-Optimal Trajectory Planning for Robotic Arms based on Improved Particle Swarm Optimization
BT  - Proceedings of the 2025 7th International Conference on Civil Engineering, Environment Resources and Energy Materials (CCESEM 2025)
PB  - Atlantis Press
SP  - 473
EP  - 482
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-902-5_46
DO  - 10.2991/978-94-6463-902-5_46
ID  - Zhang2025
ER  -