In order to realize high precise and high efficienty operation of the manipulator in the industry

a method based on quantum particle swarm optimization（ QPSO） algorithm to solve the time optimal trajectory of the six-degree-of-freedom manipulator is proposed. Aiming at the characteristic that the trajectory planning of polynomial interpolation has higher order

and there is no convex hull

this method uses the 3-5-3 piecewise interpolation method to establish the trajectory function. The method solves the problem that the polynomial interpolation trajectory has high order and is difficult to be optimized. The trajectory optimization effect is good

and the joint angular position

velocity and acceleration have no mutation. The simulation experiment proves the feasibility of the method. By comparison

QPSO is more suitable for time-optimal trajectory planning of industrial robot arm than general PSO and double-layer PSO.