机器人纸箱套装系统的轨迹规划与分析验证

Trajectory Planning and Analysis Verification of Robotic Carton Packaging System

目的保证机器人纸箱套装系统稳定工作,提高包装质量与效率。方法对系统进行整体规划后,确定纸箱套装系统的轨迹点,对不同的运动过程分别在关节空间中和笛卡尔空间中进行轨迹规划,并生成各关节插值曲线。借助Matlab对机器人进行仿真实验,得出各关节角度规划曲线,并将之与轨迹规划所得结果进行比较。利用机器人实物对轨迹规划进行验证。结果各关节插值曲线与角度规划曲线吻合,角度规划曲线平滑。结论选用的套箱机器人轨迹规划方法可行,结果正确。

The work aims to ensure the stable working of robotic carton packaging system and improve the packaging quality and efficiency. After the overall planning of the system, the trajectory points of carton packaging system were determined. The trajectory planning of different motion processes respectively in the joint space and Cartesian space was carried out and the interpolation curves of each joint were generated. The simulation experiment on the robot was conducted by virtue of Matlab to generate the angle planning curve of each joint and compare it with the results of trajectory planning. The trajectory planning was verified by the real robot. The interpolation curve of each joint coincided with that of the angle programming. The angle planning curve was smooth. The method for the box robot trajectory planning is feasible, and the results are correct.