Optimization of Milling Robot Trajectory Based on Whale Optimization Algorithm

In response to the problem of vibration and low work efficiency during robot milling, taking into account the work indicators of milling time and stability, combined with the kinematic constraints of the robotic arm, the time impact optimization problem is transformed into a multi-objective optimization problem. The paper proposes an improved whale optimization algorithm, which introduces a differential mutation strategy to improve the problem of traditional whale algorithms easily getting stuck in local optima. Compared with traditional whale optimization algorithms, the improved whale algorithm significantly improves the convergence speed and accuracy during the milling process. Finally, it is verified by a solid robot. The results showed that the pulse value of the planned trajectory was reduced by up to 99.76%, and the efficiency was improved by 47.62%, effectively avoiding robot vibration during the milling process.