Optimal Time–Jerk Trajectory Planning for Delta Parallel Robot Based on Improved Butterfly Optimization Algorithm

In this paper, a multi-objective integrated trajectory planning method based on an improved butterfly optimization algorithm (IBOA) is proposed, to improve the dynamic performance of Delta parallel pickup robot in high-speed pick-and-place processes. The main objective present study positioning accuracy and running stability at high speeds accelerations. On one hand, intention ensure smooth motions using method, other hand picking efficiency. To end, constructed by NURBS curves Cartesian space. Taking time jerk as objectives, proposed. IBOA (BOA); circle chaotic sequence introduced replace random initial population original BOA, fractional differential used convergence speed BOA. Then, problem segment deformation optimized solved. Finally, three-degrees-of-freedom evaluate prosed algorithm. obtained results show that, compared with algorithms, reduces 16.2%, maximum reduced 87.6%. are better than algorithms 14.1% 27.2%. motion simulation that can effectively reduce vibration acceleration end platform.