Study On The Control Of Dynamic System And Trajectory Planning For Palletizing Robot

With the development of modern intelligent manufacturing,palletizing robot has liberated workers from traditional,heavy and single human labor,drawing on the advantage of high precision,intelligence and small ground occupation.Given requirements of more flexibility,accuracy and velocity,the objective of this paper is to research on the dynamic system control platform of 4-DOF palletizing robot and discuss the optimization of motion trajectory and trajectory algorithms on the joint space in the background of the practical project,satisfying the demand of production practice.Firstly,this paper analyses the mechanical model and motion characteristics of ABT palletizing robot,and then combined with the requirements of dynamic system and control system parts,the system is divided into operation,drive control and motion modules.Secondly,this paper designs the software and hardware system of robotic dynamic control system,including the research on Trio MC405 motion controller,the selection of servo driving devices,touch screen interface design and the whole electrical connection of dynamic control system.On the other hand,through the static and dynamic performance calculation,the suitable motor model and driver type have been matched.Again,the motion trajectories for manipulator's end effector have been compared and optimized.For the problem of the impact generated when running in high-velocity and for the purpose of timing optimization,in this paper,combined fitting method,asymmetry and optimal operation time are first adopted to trajectory planning and two types of trajectory planning algorithms of trapezoidal-triangle fitting function and high order polynomial fitting function has been presented.Matlab is used to do simulation analysis and comparison of the combined curves,and the result shows that the trajectory planning curve has the advantages of higher derivative continuity and smaller velocity and acceleration maximum.Finally,selected ABT palletizing robot as object,an experiment has been made to verify and analyze on the performance of dynamic system and theory of trajectory algorithms.The results indicate that the robot dynamic system can fill with the technique requirement well and the operation efficiency was greatly improved as well by this trajectory planning.