Control and Fetching Strategy of Goods-Picking Robot in the Self-service Supermarket

摘要

The picking path of a six-degree-of-freedom (6 DOF) manipulator was planned according to the order requirement for the problem such as small working space and various goods in self-service supermarket. Different control and fetching strategies are adopted to enable the end-effector to contact the surface of the goods smoothly and quickly for efficient and accurate goods suction. The experiment indicates that the motion trajectory of the manipulator is consecutive and smooth without jumping point; and the average working efficiency is 24s per piece with the rate of successful picking is 98% which realizes the function of grabbing the target goods autonomously for the goods-picking robot system.