Time-optimized robot trajectory based on improved whale optimization algorithm in intelligent manufacturing

Abstract To improve the low convergence accuracy of whale optimization algorithm (WOA) and the problem of converging to local optima, we proposed using nonlinear convergence factors and introducing nonlinear inertia weights in the WOA. The modified WOA was used to optimize the trajectory of a 6R industrial robot. To improve the convergence accuracy and the local and global search ability of the WOA, we first replaced the convergence factor with a nonlinear convergence factor and added a nonlinear inertia weight. The algorithm was used along with a quintic polynomial equation to develop a time-optimal trajectory, for the robot, for use in practical application scenarios. Simulation experiment results showed that the duration of a complete loading-unloading process was reduced by 30% to 49% after robot motion trajectory optimization compared with that before optimization, indicating the effectiveness of the improved WOA and its suitability for robot trajectory optimization.