【摘要】 为了满足机械臂高效、高精的作业要求，提出一种基于海洋捕食者算法(MPA)的时间最优轨迹规划法。以Fanuc机械臂为研究对象，在其关节空间中，采用3-5-3分段多项式，并基于MPA来获得各关节的轨迹函数。结果表明，MPA较强的全局以及局部搜索能力，与粒子群(PSO)相比，优化结果更好、收敛速度更快，运行时间平均减少约2 s,并且在优化过程中具有良好的收敛速度与精度，获得的轨迹曲线平滑、无突变，速度和加速度曲线连续，MPA更适用于机械臂的轨迹优化。更多还原

【Abstract】 Time optimal trajectory planning method based on the Marine Predators Algorithm(MPA) is proposed for satisfying the high-efficiency and high-precision operation requirements of the robotic arm. Using 3-5-3 polynomial it plans the trajectory of Fanuc manipulator and optimizes the trajectory based on MPA in the joint space. The results show that MPA has better results and faster convergence speed than standard particle swarm(PSO). The running time is reduced by about 2 seconds on average. MPA has a strong global and local search capability. It can search the entire feasible domain and have good convergence speed and accuracy in the optimization process. The trajectory curve obtained by MPA has the characteristics of smoothness and no mutation change. The velocity and acceleration curves are also continuous. Therefore, it is more suitable for trajectory optimization of robotic arm. MPA is more suitable for trajectory optimization of robotic arms.更多还原