ArticleSensors (Basel, Switzerland)2025
Time-Impact Optimal Trajectory Planning for Wafer-Handling Robotic Arms Based on the Improved Snake Optimization Algorithm.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Time-Optimal Trajectory Planning Method for Servo PMSM Based on Short-Term Dynamic Feasible Region Constraint.Sensors (Basel, Switzerland) · 2026Article
- Robotic Arm Trajectory Planning for Tunnel Lighting Cleaning Based on the CAW-PSO Algorithm.Sensors (Basel, Switzerland) · 2026Article
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Authors and funding
2 authors.
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Abstract
To enhance the working efficiency of a wafer-handling robotic arm and simultaneously alleviate the impact and vibration during the motion process, a trajectory planning approach based on an improved snake optimization (ISO) algorithm is proposed. The following improvements have been made to the snake optimization (SO) algorithm: the introduction of a Chaotic Tent Map for initializing the swarm, the use of randomly perturbed dynamic learning factors to replace fixed values, the application of a cosine annealing learning rate for self-adaptively updating individual positions, and the incorporation of Bayesian optimization for parameterization and fine-tuning of the system's selection process. Furthermore, the ISO algorithm is applied in the Cartesian space of the robotic arm to effectively address the trajectory planning challenge of the single-segment start-stop S-shaped speed curve with arc transitions. The simulation results indicate that the improved S-shaped speed curve has increased by 24.1% compared with the original plan, and the mean and variance rankings of ISO algorithm have, respectively, improved by 60.8% and 63.4%, compared with the SO algorithm. Meanwhile, this study has successfully achieved the Pareto optimal solution with time and impact as the targets based on the established MATLAB experimental simulation platform.
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