Trajectory Planning Method for a Robotic Arm Based on an Improved Multi-Objective Golden Jackal Optimization Algorithm.

(29) E = E 1 × E 0 (30) E 0 = 2 r − 1 (31) E 1 = c 1 × 1 − t T In the formula, E 0 represents the initial value of the prey’s escape energy; r is any value within the range of [0, 1]; E 1 is the prey’s energy that decreases with the number of iterations, and its value shows an increasing trend as the iterations progress; T is the maximum number of iterations; c 1 is a constant with a value of 1.5, used to adjust the search intensity and convergence speed of the algorithm.

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As the Pareto front transitions from Solution A to Solution C, a clear trend emerges: the operation time progressively increases, while both energy consumption and motion impact decrease correspondingly.

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