It is very important to ensure safety, improve efficiency, improve precision, adapt to dynamic environments and realize coordinated motion. Time trajectory planning of a manipulator is a process of determining the trajectory of a manipulator under given tasks and constraints. Among them, the vibration trajectory analysis and optimization methods of the manipulator are very important to realize the mechanization of vibration separation of sea buckthorn fruit. Mechanical harvesting has become a bottleneck problem restricting the large-scale industrial production of the sea buckthorn industry 7. Due to its strong attachment, mature fruit can be crushed by small external forces, resulting in very difficult harvesting. The root of sea buckthorn is resistant to cold, drought, and barrenness due to nitrogen fixation by rhizobia, a high-quality ecological tree species for improving soil and the ecological environment 4, 5, 6.

Sea buckthorn (Hippophae rhamnoides L.), also known as vinegar willow, blackthorn elaeagnaceae sea buckthorn, is known as the 'shining horse' by Greece 1, 2, 3. The results of the orthogonal experiment show that the average fruit drop rate reaches 96.19%, which verifies the validity and reliability of the I-PSO algorithm for optimal time planning of seabuckthorn fruit separation vibration trajectory. Experimental images and data show that the improved particle swarm optimization algorithm can ensure the continuity of joint acceleration and velocity, and the optimal vibration trajectory time is 0.536539094 s Compared with the planned system trajectory time of 0.71022 s, the speed increased by 24.5%. The first step is to analyze the motion of the robotic arm's joints, which are limited in range and speed, in combination with a 3–5–3 polynomial interpolation, an improved Particle swarm optimization with adaptive inertia weight and asynchronous learning factor is proposed, and the specific process is given. In this paper, the optimal time planning of vibration separation trajectory of Hippophae rhamnoides fruit is studied for space manipulator using the I-PSO algorithm.

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