哈尔滨工程大学学报2026，Vol.47Issue(6)：1308-1317,10.DOI:10.11990/jheu.202406015
面向时间最优的机械臂平滑轨迹规划方法研究
Time-optimal smooth trajectory planning method for robotic manipulators
摘要
Abstract
To enhance operational efficiency and ensure motion smoothness,a smooth trajectory planning method based on an improved sparrow search algorithm was proposed for the time-optimal trajectory planning problem in the joint space of manipulators.First,a time-optimal trajectory optimization model was established using non-uniform rational B-splines.Subsequently,the characteristics and limitations of the sparrow search algorithm were analyzed,corresponding improvement strategies were proposed,and a time-optimal smooth trajectory planning method for manipulators was constructed to search for the optimal trajectory execution time.Simulation and experi-mental results demonstrate that the proposed method improves runtime by 33%compared to traditional algorithms.Furthermore,the jerk remains at low levels,indicating good trajectory smoothness.The proposed method is suit-able for industrial scenarios with high repetitiveness,enabling efficient and smooth trajectory planning for manipu-lators.The findings of this paper provide a theoretical foundation and technical support for efficient automated op-erations of industrial robots and motion control in intelligent manufacturing systems.关键词
机械臂/轨迹规划/时间最优/非有理均匀B样条/关节空间/运动平滑性/智能优化算法/改进麻雀搜索算法Key words
manipulator/trajectory planning/time-optimal/non-uniform rational B-splines/joint space/motion smoothness/intelligent optimization algorithm/improved sparrow search algorithm分类
信息技术与安全科学引用本文复制引用
姚建均,张宜坤,钱琛..面向时间最优的机械臂平滑轨迹规划方法研究[J].哈尔滨工程大学学报,2026,47(6):1308-1317,10.基金项目
宁波市"科创甬江2035"专项(2024Z266). （2024Z266）
