Research On Trajectory Planning Of Palletizing Robot For Logistics Sorting

With the proposal of 2025 made in China,palletizing robot has become an essential equipment in intelligent manufacturing plant.The palletizing robot can replace the heavy and boring work,and can realize factory automation and intelligent production,which has an important influence on improving the production efficiency of the factory and reducing the production cost.This thesis takes the school-enterprise cooperation project as the research background,and studies the trajectory planning of the palletizing robot,which has important engineering value and practical significance.Firstly,the DH parameter method is used to model the palletizing robot,and the solution to the forward and inverse kinematics of the palletizing robot is analyzed and deduced in detail.The correctness of kinematic derivation is verified by simulation,and the palletizing robot is analyzed at the same time.The work space laid the foundation for the following trajectory planning.Secondly,in order to solve the problem of poor stability and large impact of the palletizing robot,a method combining three B splines with trapezoid plus deceleration control algorithm is proposed.The three time B spline interpolation function is used to solve the problem of running stability of palletizing robot in joint space,the trapezoidal acceleration and deceleration control algorithm avoids the impact problem in trajectory by controlling the running speed of each section,simulation experiments show that this method can make the palletizing robot track continuously and smoothly.Then,aiming at the problem that the irregular cigarette package does not apply to the existing palletizing method,an automatic matching and palletizing scheme for the irregular cigarette package is designed,and the simulation verification is carried out in the V-rep,the result shows that the scheme is correct and feasible.At the same time,an improved genetic algorithm trajectory planning method based on three times uniform B spline is proposed.The trajectory of joint space is fitted by three uniform B splines.The improved genetic algorithm is used to optimize the operation time of palletizing robot.The simulation experiment results show that the method shortens the palletizing time,and the track of each joint of the palletizing robot is smooth.Finally,taking the six degree of freedom FANUC robot as the experimental research object,using the OtoStudio software and the CPAC controller to build the experimental platform,the trajectory planning method proposed in this thesis is verified experimentally,the experimental results show that the proposed method is feasible.