一种用于装箱的四轴关节机器人运动控制系统设计

The design of motion control system for a four-axis joint robot used for boxing

目前用于装箱的设备一般是一体化专机,专机占用空间大,操作不灵活,并且局限于特定的场景、特定规格的产品,设计的四轴关节机器人安装在移动底盘上,能通过自动导航进入货车、集装箱等各种应用场景。分析了此机器人的运动学原理,建立其逆运动学模型,并根据运动学模型设计了机器人的运动控制系统,建立机器人手眼系统,实现机器人的全闭环控制,通过多组装箱实验,验证了机器人的定位精度,为移动装箱机器人的进一步智能化,提供一种新的工程实现方法。

Currently,the equipment used for packing is generally integrated special machine。The special machine is not flexible in operation which takes up large space,and it is limited to specific scenarios and products of specific specifications.This Four axis joint robot is Installed on the mobile chassis,it can access various application scenarios such as trucks and containers through automatic navigation.This paper analyzes the kinematics principle of the robot,establishes its inverse kinematics model,and designs the motion control system of the robot according to the kinematics model.The robot hand eye system is established to realize the full closed loop control of the robot.This article verifies the positioning accuracy of the robot through several groups of boxing experiments and provides a new engineering implementation method for the further intelligence of mobile boxing robot.