基于多项式拟合插值函数的码垛机器人轨迹规划

doi:10.3976/j.issn.1002-4026.2016.05.019

SHANDONG SCIENCE ›› 2016, Vol. 29 ›› Issue (5): 117-123.doi: 10.3976/j.issn.1002-4026.2016.05.019

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Polynomial fitting interpolation function based trajectory planning for a palletizing robot

XIA Zhengya，HONG Liang

School of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Received:2016-03-22 Online:2016-10-20 Published:2016-10-20

Abstract

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

CLC Number:

TP242

XIA Zhengya，HONG Liang. Polynomial fitting interpolation function based trajectory planning for a palletizing robot[J].SHANDONG SCIENCE, 2016, 29(5): 117-123.

Polynomial fitting interpolation function based trajectory planning for a palletizing robot

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