For the trajectory optimization of the time–jerk of robotic arms with a chicken swarm optimization algorithm, using five-order B-spline interpolation can ensure smooth and continuous acceleration, but, due to the performance problems of the algorithm, the low solution accuracy and the slow convergence speed, the ideal trajectory curve cannot be obtained. To address these problems, an improved chicken swarm algorithm based on a parallel strategy and dynamic constraints (PDCSO) is proposed, where the rooster update …