I expect the title is about the protagonist's situation in society. He may be not accepted. The poem shows the disrespect from the other people because he is black and not white. He is excluded from the company. Isolation helps him to become stronger. He imagines a near future where he would be at the table with the company and nobody will say to him "eat in the kitchen". They will see how beautiful he is. The poem is composed of two stanzas, the first with 7 lines and the second with 11 lines. There are not rhymes. The expression "Darker Brother" means that the protagonist is an African or Afro-american person. The poem talks about the situation of black slaves in America. They wanted to have the same freedom of white people. The poet expresshis feeling by saying that blacks have equal rights, too.