Motion Planning And Process Optimization Of Robot Palletizing

In recent years,industrial robot is developing rapidly.It plays an increasingly important role in various industial application scenarios.Robot palletizing is a typical application scenarios.At present,robot palletizing process systems have problems such as high teaching intensity,low data utilization rate and complicated of programming of robot palletizing motion programs.Therefore,the palletizing robot motion planning and the palletizing process system were optimized;the process information configuration process was simplified;a stable and high-speed palletizing process was achieved.The main work of this paper is as follows:The structural characteristics of the 4-axis slider type hybrid palletizing robot are analyzed and studied,and the geometrical method is used to deduce the kinematic forward and inverse kinematics of MD350 robot.The motion law of robot palletizing process was analyzed in a targeted way.According to its motion law,a planning algorithm for acceleration and deceleration of S-curve based on the secant method was proposed.The MATLAB experiment showed that the planning process is easier and the speed of solving is faster with this algorithm.The algorithm is used for S-curve acceleration and deceleration planning,and the S-curve acceleration and deceleration is applied to the robot palletizing trajectory planning of joint space point-to-point motion and Cartesian linear motion to satisfy the needs for efficiency and stability of robot palletizing operation.Aiming at the problems of large teaching intensity,low data utilization rate and complicated programming of the current palletizing process system,an adaptive layout algorithm is proposed.Base on this algorithm,the cargo pose was expressed as a relative pose of the pallet coordinate system by the algorithm;the teaching of layout was simplified;the taught layouts and configured stake types could be applied to different pallet..Commonly used adaptive layouts were embedded in the palletizing process system,and the placement data of adaptive layouts can be dynamically adjusted according to the size of the goods.So the commonly used adaptive layouts could be used by user directly without teaching and further reduced the the workload of layout teaching.Aiming at the complex and tedious of programming of robot palletizing motion programs,a method for automatically generating palletizing programs was proposed.The function of the robot palletizing motion program was analyzed and split several modules.By configuring the relevant parameters of robot palletizing process on the human machine interface(HMI),the palletizing program could be automatically generated without user manual programming.For configuring of robot palletizing process parameters,a robotic palletizing process HMI was developed which combined to form a palletizing process system with the adaptive layout algorithm,built-in adaptive layouts and automatic program generation method.The palletizing process system was integrated in the motion controller.A simulation experiment platform for the off-line simulation of the palletizing process was developed.A feed palletizing off-line simulation experiment was carried out on the platform and at the scene.The results show that the optimized palletizing process system had an efficiency improvement of 97.2% compared with the traditional model,which verified the effectiveness and practicality of the optimized palletizing process system.The configuration efficiency of robot palletizing process was significantly improved.