ROS-based Motion Simulation And Trajectory Planning Of Palletizing Robot

Palletizing robot working is featured with a small workspace, wide homework range, more production line working. For these, It can improve production efficiency, realize the flexible production process, reduce labor costs and also can improve the operation stability and the quality of the products. Due to the increased operating speed, as well as the complexity of the work environment, on the one hand the robot move smoothly, on the other hand it can avoid the environmental obstacles. Based on the open source operating system ROS, this paper completed the research of the construction of the simulation platform and the method of robot trajectory planning. Meanwhile, the simulation experiments are carried out.Firstly, this paper simplifies the configuration of palletizing robot, analyzes the relations the constraints between joints, establishes the palletizing robot connecting rod coordinate system and the inverse kinematics analysis. The inverse kinematics results of the robot is verified and analyzed by the using of Matlab toolbox software. Using the Monte Carlo method to solve the work space.Secondly, the paper sets up the simulation platform of palletizing robot under the robot operating system ROS. Using the URDF file, the robot model is built and The RViz that is a 3D visualization tool for ROS, is used to realize the simulation. In this paper, the motion control node is designed, the robot motion control message type is selected, and the forward kinematics, inverse kinematics as well as the program compilation and process of obstacle avoidance exercise of palletizing robot in ROS system are expound.Thirdly, the trajectory planning of palletizing robot is studied in Aartesian space as well as the Joint space. As a result, the trajectory transition model among the Straight trajectory, Circular trajectory and two sections of the straight path is built. Furthermore, the interpolation algorithm is investigated in the paper. The quaternions is also used to illustrate the pose of robot. The improved S speed control algorithm is used to plan the trajectory in the joint space. Then the joint position sequence is calculated so as to keep the trajectory smooth.Finally, the motion performance is tested in simulation system. The tests include single-axis motion test, speed regulation test, continuous motion test and obstacle avoidance motion test. The positioning accuracy of the system is analysed, and the experimental results show that the systematic error is small, it is possible to meet the requirements.