中文摘要：

根据机械臂运动学约束,提出了关节空间基于自适应遗传算法（AGA）的3-5-3多项式插值轨迹规划算法。利用运动学约束,以最优时间为目标,针对关节型机器人在静态环境下点到点的轨迹规划问题,利用AGA算法解算多项式插值的时间。通过与基于GA的3-5-3多项式机械臂轨迹规划进化曲线和运动位置、速度、加速度曲线对比,证明该方法在算法收敛、运行平稳度上都有突出优点。

英文摘要：

According to the velocity limitation of manipulator,proposed a time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on adaptive genetic algorithm（AGA）.To plan the point-to-point trajectories for manipulator working in a static environment for time-optimal,used AGA to get the time of polynomial interpolation.The simulation results show that the algorithm has good performance on time-optimal and stability compared with 3-5-3 polynomial interpolation trajectory planning algorithm based on simple genetic algorithm.