Research on trajectory planning of sandblasting robots inside steel box girders based on an improved PSO algorithm

ObjectiveA trajectory planning method for the sandblasting robots based on an improved particle swarm optimization (PSO) algorithm was proposed to improve the impact resistance and operational efficiency of the sandblasting robots inside steel box girders.MethodsFirstly, the forward kinematics equation of the robot was established using the improved D-H parameter method, and the inverse kinematics numerical solution of the robot was solved using the Newton-Raphson method. Then, the weighted coefficient method was used to define the objective function for optimizing the robot trajectory, this objective function was used as the fitness of the PSO algorithm, and the PSO algorithm was improved by changing the particle update strategy. Finally, the improved PSO algorithm was used to solve the time of the 4-5-4 segmented polynomial interpolation, thereby solving the robot trajectory.ResultsThe results show that the PSO algorithm improved by the particle update strategy increases the convergence speed of fitness by 37.5% and yields the minimum fitness. Through trajectory optimization, the operation time of robot joints is reduced by 10.67%, the total maximum impact is reduced by 33.45%, and the total average impact is reduced by 32.34%.