In order to solve the problems of insufficient search accuracy and low efficiency of traditional genetic algorithms in solving manipulator trajectory optimization problems,this paper proposes a firefly-genetic algorithm based trajectory time optimization method for manipulator.The end trajectory of 6-DOF manipulator is planned in joint space using a quintic-polynomials interpolation method,and firefly-genetic algorithm is used for time optimization of the end trajectory of the manipulator to get the optimal end trajectory running time under kinematic constraints.The trajectory running time is ...
