In order to plan the time-optimal trajectory of the working manipulator of an aerial work robot

a time-optimal 3-5-3 combined piecewise polynomial interpolation algorithm based on the improved particle swarm optimization algorithm is proposed. First

a 3-5-3 combined piecewise polynomial is constructed. Then

under the constraints of angular velocity and angular acceleration

taking the shortest time as the optimization goal

the improved particle swarm optimization algorithm is used to optimize the results of the combined piecewise polynomial. Finally

the simulation results show that compared with the standard particle swarm optimization algorithm

the improved particle swarm optimization algorithm has significantly improved convergence speed and accuracy and does not fall into local convergence. The final optimization result is 12.8% higher than that of the standard algorithm. Under this trajectory

the joint angle

velocity and acceleration curves of the manipulator are smooth without sudden change. The motion of the manipulator meets the requirements

indicating that the improved algorithm is feasible.