In the process of trajectory optimization for robot manipulator, the path that is generated may deviate from the intended path because of the adjustment of trajectory parameters, if there is limitation of end-effector path in Cartesian space for specific tasks, this phenomenon is dangerous. This paper proposes a methodology that is based on the Pareto front to address this issue, and the methodology takes into account both the multi-objective optimization of robotic arm and the quality of end-effector path. Based on dung beetle optimizer, this research proposes improved non-dominated sorting dung beetle optimizer. This paper interpolates manipulator trajectory with quintic B-spline curves, achieves multi-objective trajectory optimization that simultaneously optimizes traveling time, energy consumption, and mean jerk, proposes a trajectory selection strategy that is based on Pareto solution set by introducing the concept of Fréchet distance, and the strategy enables the end-effector to approach the desired path in Cartesian space. Simulation and experimental results validate the effectiveness and practicability of the proposed methodology on the Sawyer robot manipulator.

中文翻译：

---

关注末端执行器路径限制的机器人机械臂多目标最优轨迹规划

在机器人机械臂的轨迹优化过程中，由于轨迹参数的调整，生成的路径可能会偏离预期路径，如果笛卡尔空间中针对特定任务的末端执行器路径存在限制，这种现象是危险的。本文提出了一种基于帕累托前沿的方法来解决这个问题，该方法同时考虑了机械臂的多目标优化和末端执行器路径的质量。本研究在粪甲虫优化器的基础上，提出改进的非支配排序粪甲虫优化器。本文采用五次插值法对机械臂轨迹进行插值乙-样条曲线，实现同时优化行程时间、能耗和平均加加速度的多目标轨迹优化，引入Fréchet距离的概念，提出基于Pareto解集的轨迹选择策略，该策略使得最终-效应器接近笛卡尔空间中的所需路径。仿真和实验结果验证了该方法在Sawyer机器人上的有效性和实用性。