Research On Trajectory Planning Of Cartesian-coordinates Palletizing Robot With Multi-sensor Fusion

There are various forms of stacking robot which is widely used in modern logistics field,among which the relatively easy to use Cartesian coordinate stacking robot has always been a popular choice.The stacking robot used in the actual production is not only concerned with the speed,but also the stability.The two must be unified in order to achieve a fast and stable stacking process.This paper researches some problems in the use of Cartesian coordinate stacking robot.Based on a existing Cartesian coordinate robot,this paper analyzes their similarities and differences,and makes some modifications to the electric control system for specific stacking tasks,and the feasibility of this modification for the original project is discussed.Then the selection of the motor and its servo drivers,switches and digital sensors has been done.After analyzing a series of problems in practical use,we try to obtain the appropriate sensor use scheme.At the same time,the multi-sensor fusion simulation is presented.The trajectory planning is divided into path planning and acceleration and deceleration law analysis.The path planning section analyzes the characteristics of the three paths,their advantages and disadvantages,and gives the calculation method of the key point parameters in those paths.In the acceleration and deceleration planning,some problems faced by the traditional five-degree polynomial planning in joint space are analyzed.Then the improved method is proposed for the five polynomial problems,and a series of key parameters calculating method and constraint conditions are derived for the optimized five-degree polynomial trajectory planning.The dynamic problems are solved with multi-sensor fusion,and a series of mathematical solution models are given.Finally,this paper carries on the relevant theoretical verification test,and tests the static part and the dynamic part of the trajectory planning.The results show that the optimization in the static part has the effect of accelerating under the premise of stability,and the dynamic part realizes the specifications and collision detection.