An improved black widow-incorporated dung beetle optimization(IBWDBO)algorithm is proposed to optimize the trajectory operation time for the time optimization problem of robotic arm trajectory planning.To ensure smooth and continuous joint trajectories

a non-uniform 5th order B-spline function is used to construct interpolation curves in joint space.To address the issue of uneven initial population distribution of the original algorithm

a good point set strategy is adopted to generate the initial population

ensuring uniform distribution of population positions.Aiming at the problem of the slow convergence speed caused by weak connections among different individuals in the population

the black widow optimization(BWO)algorithm is used to update some individuals

enhance internal connections of the population

and improve the convergence speed of the algorithm.To prevent the algorithm from falling into local optima

a spiral search mechanism is added to improve the anti-stagnation capability of the algorithm.The IBWDBO is compared with the original algorithm and other classical algorithms through simulations and prototype experiments.The experimental results show that the improved DBO algorithm has faster optimization speed and stronger optimization ability than other algorithms.The optimized joint displacement

velocity

and acceleration curves of the robotic arm are smooth

and this method can effectively achieve time-optimal trajectory planning of the robotic arm.