Palletizing Robot Motion Control And Multi-robot Collaboration Strategy Research

As a typical industrial robot, palletizing robot integratesmulti-disciplinary knowledge such as computer, artificial intelligence,information and sensing. With its powerful flexible working ability, highintelligence, small floor area and ability to deal with many kinds ofmaterial at the same time, palletizing robot is widely used in packaginglogistics and other industries. Currently, palletizing robot becomes moreflexible, diversified, and intelligent, to pursue higher stacking velocity,greater workspace and better stability. Obviously, control systemdevelopment level will directly determine quality of these targets. Basedon this, this paper purposes to develop a set of general control system forpalletizing robot. The main contents of this paper are as follows:Firstly, the preliminary scheme of robot control system is establishedaccording to mechanical structure and function needs. Control system isdivided into six modules based on modular design concept, each module isindependent, interchangeable, and has mutual connection. Based on this,the motion control modular is subdivided to improve system efficiency.Secondly, this paper carries out a detailed plan of palletizingtrajectory, including kinematics modeling, coordinate transformation andreaching workspace analysis, focusing on the use of PVT mode. S-shapedflexible acceleration and deceleration curve algorithm is used on point topoint joint movement, and improved cubic spline curve is used to optimizecontinuous joint trajectory, making the velocity and acceleration of eachjoint become smooth and continuous, to ensure fast and smooth palletizing process.Thirdly, the whole hardware control system project is establishedbased on functional requirements of each module, with hardware partsselection and system circuit design. According to software demands, thispaper determines the software system framework, finished correspondingmotion procedures and human-machine interface development work.Simple experiments show that the designed palletizing robot meets motioncontrol requirements.Finally, due to the low palletizing efficiency of a single robot becauseof speed bottleneck, this paper attempts to establish multi-robotcooperative control strategy, including multi-architecture, communicationmechanism and task allocation principles, and put forward application ideaof multi-palletizing robot collaboration strategy, with emphasis on spatialdistribution and collaborative allocation algorithm, to lay the theoreticalfoundation for later research.