基于S型曲线的包装堆垛机器人轨迹规划

Trajectory Planning of Packaging Palletizing Robot Based on S-curve

目的为了保证包装堆直角坐标堆垛机器人系统能够平滑、稳定、高速运行,避免机器人出现速度、加速度的突变,并对机器人轨迹进行规划。方法首先分析直角坐标机器人的运动过程,在此基础上提出一种基于多项式的S型曲线包装堆垛机器人轨迹规划方法,并设计机器人控制系统,利用威纶TK6050ip触摸屏对机器人进行监控和参数设定,采用西门子S7-200 PLC和EM253位置控制模块实现对机器人速度和位置的控制,最后对机器人运动轨迹进行仿真实验分析。结果仿真实验结果表明,该轨迹规划方法能够保证机器人速度和加速度无突变,确保了机器人平滑稳定运行。结论该控制系统有效提高了包装堆垛机器人的运行效率,对于机器人稳定可靠运行具有重要意义。

The work aims to ensure that the packaging palletizing robot of rectangular coordinates can work smoothly, stably and at high speed, avoid the abrupt change of speed and acceleration, and plan the trajectory of robot. Firstly, the kinematic process of rectangular coordinate robot was analyzed. Based on that, the trajectory planning method of S-curve packaging palletizing robot based on polynomial was proposed. The robot control system was designed. The robot was monitored and its parameter was set by the Weinview TK6050 IP touch screen. The speed and position control of the robot was realized with Siemens S7-200 PLC and EM253 position control module. Finally, the simulation experiment of the robot motion trajectory was carried out. The simulation experiment results showed that the trajectory planning method could ensure the speed and acceleration of the robot without mutation and ensure the smooth and stable operation of the robot. The control system effectively improves the operation efficiency of the packaging palletizing robot, which is very important for the stable and reliable operation of the robot.