Stacking robot interpolation algorithm research and application for irregular cigarette packs

摘要

In this paper, In order to improve smoothness of stacking robot end and joint trajectory, The interpolation algorithm based on combination of circular arc and cubic spline is proposed. In Cartesian space, Aiming at the problem of trajectory in the corner, the method of circular arc interpolation is used, and the interpolate points are achieved. Under the joint space, considering joint displacement, velocity and acceleration constraints, as well as the calculation of interpolation algorithms, using cubic spline curve through six points of control iterative algorithm. And combination of S-type curve for trajectory planning of joints speed. MATLAB simulation shows that the method not only improve the smoothness of terminal trajectory but also improve the smoothness of joint.