包装物料分拣机器人运动轨迹规划

Motion Trajectory Planning of Packaging Material Sorting Robot

为了保证自动物料分拣并联机器人平稳、快速地将目标物料码放到指定位置,需要机器人拥有良好的动态特性,尽可能保证机器人运动速度和加速度平滑过渡。介绍了并联机器人工作原理以及运动轨迹,介绍了传统的关节空间轨迹规划方法,并在此基础上提出了一种关节空间的多项式插值拟合的分拣机器人轨迹规划方法,通过多项式插值法对机器人运动速度进行了拟合,并在不同约束条件下得到了机器人最短运行时间。仿真结果表明,该轨迹规划方法能够实现机器人各轴速度平滑过渡,避免了机器人因加速度突变出现冲击。该规划算法简单可行,能够保证机器人拥有良好的动态特性,保证了机器人稳定可靠运行。

In order to ensure the automatic material sorting parallel robot smoothly and quickly put the target material code to the designated position,it is necessary for the robot to have good dynamic characteristics and to ensure the smooth transition of the robot’s motion speed and acceleration as much as possible.Firstly,the working principle and motion trajectory of parallel robot are introduced,and the traditional joint space trajectory planning method is introduced.On the basis of this,a trajectory planning method of sorting robot based on polynomial interpolation fitting of joint space is proposed.The speed of the robot is fitted by polynomial interpolation,and the shortest running time of the robot is obtained under different constraints.The simulation results show that the trajectory planning method can realize the smooth velocity transition of each axis of the robot and avoid the impact of the robot due to the sudden change of acceleration.The algorithm is simple and feasible,which can ensure the robot to have good dynamic characteristics and ensure the stable and reliable operation of the robot.