关键词: 轨迹规划, 码垛机器人, 多项式拟合, 最短时间规划

Abstract:

We present a new polynomial fitting interpolation function and joint space based trajectory planning with 4DOF palletizing robot as a subject. It can not only guarantee speed, acceleration and even jerk bound and continuation, but also acquire the shortest execution time for different restricted conditions. We also implement further combination and optimization of joint movement process based on the specific mechanical structure, movement mode and terminal movement route of the robot, so programming control is simple. We then employ MATLAB to simulate fitting curves, and investigate the performance of symmetric and asymmetric fitting curves. Motion control of palletizing robot is eventually realized with software Trio Motion Perfect. Results show that the trajectory planning is accurate, feasible and efficient.

Key words: palletizing robot, optimal planning time, trajectory planning, polynomial fitting