부산대학교 도서관

Abstract In this paper, the optimal time planning of vibration separation trajectory of Hippophae rhamnoides fruit is studied for space manipulator using the I-PSO algorithm. The first step is to analyze the motion of the robotic arm's joints, which are limited in range and speed, in combination with a 3–5–3 polynomial interpolation, an improved Particle swarm optimization with adaptive inertia weight and asynchronous learning factor is proposed, and the specific process is given. Experimental images and data show that the improved particle swarm optimization algorithm can ensure the continuity of joint acceleration and velocity, and the optimal vibration trajectory time is 0.536539094 s Compared with the planned system trajectory time of 0.71022 s, the speed increased by 24.5%. The results of the orthogonal experiment show that the average fruit drop rate reaches 96.19%, which verifies the validity and reliability of the I-PSO algorithm for optimal time planning of seabuckthorn fruit separation vibration trajectory.