Mechanical Arm Trajectory Planning Based on B-Spline and Whale Optimization Algorithm

In order to improve the efficiency of mechanical arms，the time optimal trajectory planning method based on the B‑spline and whale optimization algorithm（WOA）is proposed. The Monte‑Carlo method is used to describe the workspace of the mechanical arms，and then the B‑spline is used to interpolate the given path points. According to the performance of each joint of the manipulator，the angular velocity and angular acceleration constraints are introduced，and the boundary conditions are added. After constructing the target function with optimal time，the WOA with inertia weight is used to optimize the running time of the mechanical arm. Finally，using Matlab for simulation，the results show that the algorithm presented is better than the traditional quintic polynomial method in terms of time optimization，and the angular velocity and angular acceleration curve are continuously smoothed，which verifies the validity and feasibility of the algorithm. © 2024 Northeast University. All rights reserved.