新型工业码垛机器人轨迹规划研究

摘要

In order to create a smooth and flowing trajectory curve of position and velocity which is applied to the tongs of the new industrial palletizing robot, even less moving computation about trajectory, based on the "taking-putting" operation of this kind of robot, and considering the constraint condition of position, speed and acceleration, the method named "4-3-4" is used in this paper to plan the trajectory for one-way movement of the new industrial palletizing robot scientifically. Firstly the trajectory is divided into three sections, and then every section is interpolated with different low order polynomial. Matlab is chosen to plot the trajectory curve, that make foundation for the further research of control system to a-chieve the aim perfectly that automatic palletizing work is smooth and stable.%为了使新型工业码垛机器人抓手的位置和速度变化曲线具有光滑、顺畅的特性,且相关轨迹的运动计算量小,本文基于该机器人“取-放”操作的特性,在考虑机器人抓手位置、速度和加速度约束的基础上,采用“4 -3 -4”法对机器人单程运动进行了科学合理的轨迹规划.首先将整段轨迹分为三段,再采用不同低阶多项式对各轨迹段进行插补,且利用Matlab对计算数据生成了轨迹图像,为机器人控制系统的进一步研究打下一定的基础,以实现流畅、连续、稳定自动码放货物的要求.