Time Optimal Path Planning of Palletizing Robot

Abstract:

In order to improve the efficiency and reduce the vibration of Palletizing Robot, a new optimal trajectory planning algorithm is proposed. This algorithm is applied to the trajectory planning of Palletizing manipulators. The S-shape acceleration and deceleration curve is adopted to interpolate joint position sequences. Considering constraints of joint velocities, accelerations and jerks, the traveling time of the manipulator is minimized. The joint interpolation confined by deviation is used to approximate the straight path, and the deviation is decreased significantly by adding only small number of knots. Traveling time is solved by using quintic polynomial programming strategy between the knots, and then time-jerk optimal trajectories which satisfy constraints are planned. The results show that the method can avoid the problem of manipulator singular points and improve the palletize efficiency.

• Periodical: Applied Mechanics and Materials (Volume 470)
• Pages: 658-662
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.470.658
• Online since: December 2013
• Authors: Yong Pan Xu*, Ying Hong
• Keywords: Kinematical Constraints, Palletizing Robot, S-Shaped Curve, Time Optimal, Trajectory Planning

References

[1] S.Q. Zhu, S.G. Liu and X.Y. Wang: J. Mech. Eng Vol. 46 (2010), p.47.

[2] P.F. Wang, J.P. Mei and T. Huang: J. Tianjin University Vol. 40 (2007), p.1139.

[3] X.Z. Wang and Z.D. Meng: Con. Eng. Ch Vol. 11 (2004), p.280.

[4] B. Cao, Q.X. Cao and S.G. Tong: Modular Machine Tool & Automatic Manufacturing Technique. Vol. 7 (2010), p.10.

[5] D.L. Zhang and L.S. Zhou: Mech. Sci. Technology. Aero. Eng, Vol. 32 (2013), p.324.

[6] J.F. Ji, L.S. Zhou and D.L. Zhang: Ch. Mech. Eng Vol. 17 (2006), p.2225.

[7] C. Shi, T. Zhao and P. Q Ye et al: Ch. Mech. Eng Vol. 18 (2007), p.1421.