Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm

The invention relates to a genetic-algorithm-based trajectory planning optimization method for a mobile mechanical arm. According to the technical scheme, the method comprises the following steps of first establishing a forward kinematic model and an inverse kinematic model of a multi-degree-of-freedom mobile mechanical arm; then fitting a joint trajectory by adopting a composite curve of a quartic polynomial mathematical model and a quintic polynomial mathematical model, and calculating solutions of the corresponding mathematical models according to a linear constraint equation; next selecting a trajectory optimization target according to the principles of shortest motion time, minimum spatial motion distance and less than or equal to maximum set joint torque of the mobile mechanical arm; and finally globally optimizing the optimization target by utilizing a genetic algorithm to obtain an optimal trajectory curve of an end actuator of the mechanical arm. According to the method, the trajectory planning efficiency and the tracking accuracy of the mechanical arm are improved, and the problems of real-time trajectory planning of the mobile mechanical arm and trajectory planning optimization and control of the mechanical arm in an uncertain environment are also solved; and the trajectory planning optimization method for the mobile mechanical arm is effective.