Trajectory Tracking Control Of Super-clean Side Loading Delivery Robot

The super-clean side loading delivery robot and its trajectory tracking controlmethod is put forward to fulfill its super-clean working environment and modules’regular placement, so that, lots of side loading delivery optical modules’ intelligence andpilotless delivery should be realized.Firstly, a demand on cleanliness and intelligence in the delivery robot workingprocess was presented, after the overall analysis of side loading delivery systemprocesses and operating environment. Moreover, researched the structure of the robotand its Automatic Guided Vehicles to obtain their operational characteristics.Secondly, according to the structural properties of delivery robot, completed therobot kinematic analysis by means of the D-H method. An analytic method thatintroduced the geometric concepts was presented in the process of robot inversekinematics analysis, moreover, the uniqueness of solution of inverse kinematics weredetermined through the robot operating characteristics and the geometric meaning oftwo variables arctangent function, and the unique solution of the inverse kinematicswere obtained.Thirdly, relying on the Cartesian coordinate system space visibility, unblindedoperational planning of the robot is completed at the base of the operationalcharacteristics of the robot. Took the robot trajectory optimization design with a newjoint coupling trajectory optimization design method that combined the space visibilityof Cartesian coordinate system with joint variables calculation convenient of the jointtrajectory interpolation to complete the robot trajectory optimization.Finally, introduced the robot control system architecture by means of the servomotion control method that based on the kinematic model and the optimizationtrajectory of the servo motion control, and described each robot control level and itscontrol mode in detail. Trajectory tracking control algorithm is analyzed and discussedat the base of iterative learning control theory. In summary, take Pro/E Mechanism tocomplete the robot modules delivery motion simulation and draw the virtual deliverytrajectory curve.