Time-optimal trajectory planning for excavator operating arms based on SA-PSO algorithm

ZHANG Yunyue; ZHAO Zhicheng; YANG Kai; ZHANG Yu; YANG Jiangtao

doi:10.16578/j.issn.1004.2539.2026.07.009

Abstract：[Objective]In view of the problems of unstable operation,low optimization efficiency and falling into local optimum when optimizing the operation trajectory with a single intelligent algorithm,a combined algorithm of simulated annealing and particle swarm optimization(SA-PSO)was proposed for the optimal time planning of the excavation task trajectory of the excavator manipulator.[Methods]Firstly,in the Denavit-Hartenberg coordinate system,the mechanism diagram of the excavator operating arm was constructed to establish its kinematic model;secondly,the 4-3-3-3-4 piecewise polynomial was used for interpolation,and the SA-PSO algorithm was used to optimize the high-efficiency excavation task trajectory under the constraints of joint velocity and acceleration;thirdly,under the same operation task,the differential evolution(DE)algorithm and particle swarm optimization(PSO)algorithm were used in turn to obtain the time optimal trajectory;finally,in order to verify the feasibility of the planned trajectory,the optimization results were substituted into the physical verification.[Results]The test results show that the optimal time trajectory obtained by the hybrid algorithm has shorter operation efficiency and the smallest impact,which can effectively reduce the wear of each joint hydraulic cylinder.At the same time,the hybrid algorithm takes the least time to obtain the optimal trajectory,which helps to improve the real-time performance of the excavator operating arm in actual engineering operations.The physical verification results show that the optimized trajectory can achieve efficient and smooth operation of the excavator operating arm.