新型工业码垛机器人原点搜索方法的研究

Research on Method of Original Point of New Style Industrial Palletizing Robot

对工业码垛机器人原点搜索原理及方法进行了系统研究,证明传统的原点搜索方法存在一定的缺陷,原点的实际位置与理论位置出现偏差,难以满足新型工业码垛机器人在提升码垛质量上的要求;为此,笔者以新型工业码垛机器人为研究对象,通过使机器人各驱动电机轴做直线插补运动,对传统原点搜索方法进行了改进,提出了一种新的原点搜索方法;实验结果表明工业码垛机器人回原点的精度得到了提高,工业码垛机器人的实际运行情况也验证了该方法的有效性与合理性。

In this paper,the principle and method which are about industrial palletizing robot＇s original point searching have been researched.There are some defects in the traditional method of original point searching such as the deviation between theoretical position and practical position of original point.This kind of defect can not meet the demand of improving palletizing quality.Thereby,this paper improved and simplified the traditional method of original point searching based on the industrial palletizing robot through making the robot do the movement of linear interpolation.This new method has improved the precision of original point searching,and the practical running condition has also proved that this method is valid and reasonable.