Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint

Path planning to generate an appropriate time sequence of positions for a complex trajectory is open challenge in robotics. This paper proposes optimization method with the integration improved ant colony algorithm and high-order spline interpolation technique. The process can be modelled as travelling salesman problem. greatest features this include: (1) automatic generation new idea selecting nearest start point instead using traditional way human operation; (2) optimized motion manipulator shortest length free-load path improves efficiency by nearly 65% (3) trajectories both Cartesian space joint are interpolated good smoothness reduce shocks vibrations. Simulations experiments conducted demonstrate properties method.