Optimizing And Controlfor The Motion Of Stacking Robot

As important equipment for modern stacking system, stacking robots make important effectiveness for industrial automation, or no-man control system. Efficiency of stacking has become the most important criterion to judge the performance of the robot.In this paper, it has researched the peculiarities of robot when moving, especially at the high speed. Also, this paper has discussed some solutions about the complex and dynamic peculiarities, which are caused by moving of robot. The main research of this paper could be divided into four parts, which are motility analysis based on mechanics, performances optimization of Trio controllers, iterative learning control based on speed learned, and track optimization of robot arms.Because of the particularity of mechanical arm, it is easy to focus on mechanics, and get the relationship between speed and acceleration under the certain power and moment; finally, according to the actual instance and modifying the formulas, this paper gets methods of achieving maximum performance of stacking. This paper gets the method that controller has the way to communication with PCI is most suitable for requirements by comparing different Trio controllers, and different commands in the same Trio controller. Also, it gets the best motion track for robot hand by comparing three methods to get the highest stacking speed. Besides, optimum PID parameters of controller are very important to promote efficiency of stacking.In this paper, an innovative method based on ILC could be used to optimize the speed of the industrial robots. Learning through the system following error, the robotic system could achieve the optimum speed within the system following error, and gets the optimization of stacking robotic speed system. Further more, ILC requires little to model the robotic system, so it's easy to achieve itself in real machine. The results of the system simulation indicate, under the circumstances of computing robotic system parameter, and comparing the optimization with ILC to the original results, that ILC could increase the stacking speed through improving local speed.Although longer it has been researched for robot, intelligent control is very new for stacking robot, and some ideas proposed may be useful and perfected more for further research in this paper.