高精度协作式码垛机器人工作空间工艺优化

Workspace Process Optimization of High Precision Cooperative Palletizing Robot

本项目对码垛机器人工作空间进行工艺优化,具体是从码垛机器人工作空间轨迹分析;码垛机器人构建轨迹规划样条函数模型、码垛机器人运动轨迹曲线工艺参数优化三个层面开展工作。搭建码垛机器人运动学架构,且把架构展开函数阐述;在此根本上整合机器人的运行情况使用三次样条表达式展开科学的轨迹设定,经过闭环矢量法,搭建运动学表达式,还有根据B样条的函数架构,进而完成针对各种三维轨迹的拟合,依次获得关节空间、笛卡尔空间,还有联合空间设定的曲线。经过对获得的结论进行剖析,完整运行环节中,关节的速度,还有加速度表现出连续性,速度曲线平滑、改变相对稳定,能够保障机器人运动的平稳性。且笛卡尔,还有关节空间整合后的轨迹设定对比与独立的笛卡尔空间设定,或是关节空间设定获得的拟合曲线要显著优化,高品质的运动轨迹将会提升完整运动的稳定性。

This project optimizes the work space of the palletizer robot,specifically from the analysis of the working space of the palletizer、the gallery robot constructs the trajectory planning sample function model、the two levels of the process parameters of the gallery robot motion tracking process are optimized.To build a motion structure architecture of palletizing robotics and explain the architecture expansion function;this basically integrates the operation of the robot with three strips of expressions to expand scientific trajectory settings.According to the function architecture of the B-like strips,the fitting of various three-dimensional trajectory is completed,and the joint space,Descartes space,and the curve set by the combined space are obtained in turn.After analyzing the conclusions obtained,in the complete operation link,the speed of the joints,as well as acceleration showing continuity,smooth curve,changing relatively stable,can ensure the stability of robotics movement.And Descartes,and the trajectory setting of joint space integration comparison with independent Descartes space settings,or the fitting curve obtained by joint space settings should be significantly optimized.High-quality sports trajectory will improve the complete exercise stability.