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Time Optimal Trajectory Planning Based on Redundant Manipulator

A time-optimal trajectory planning algorithm based on redundant manipulator is proposed. In order to improve the operation efficiency of the manipulator, based on the traditional high-order polynomial trajectory planning, the genetic algorithm is used to optimize the time, shorten the total operation time, and obtain the smooth and continuous operation trajectory satisfying the kinematic constraints. The experimental results show that the manipulator runs smoothly without vibration and maintains good motion performance, which verifies the effective feasibility of the trajectory algorithm.