Research On Trajectory Optimization And Motion Control Of High Precision And Low Vibration Palletizing Robot

With the development of industrial palletizing robot technology,the performance requirement of palletizing robot is higher and higher in industrial field.The performance attributes of high precision,low vibration and low overshoot have become the main goals of palletizing robot.The palletizing robot is no longer just a simple repetitive motion.Modular components enable the palletizing robot to complete more complex motions.This paper mainly studies the motion accuracy and vibration suppression of palletizing robot.Aiming at the motion accuracy of the palletizing robot,firstly,the structure of the palletizing robot is optimized.The bi-parallelogram structure,bottom support and waist support of the palletizing robot are designed.The structure is simulated and analyzed.The verticality of the bottom executing table and the accuracy of the movement are guaranteed by the characteristics of the structure.According to the load and speed requirements of the palletizing robot,the servo motor and reducer of the palletizing robot are selected and analyzed numerically.The kinematics and dynamics modeling of the whole model of the palletizing robot are carried out,which lays a foundation for the inverse solution of the program and the analysis of vibration suppression.Secondly,the trajectory of the palletizing robot is accurately controlled and simulated.The trajectory of the palletizing robot is planned and simulated by cubic polynomial and quintic polynomial respectively in the joint coordinate system.In the rectangular coordinate system,the trajectory of the palletizing robot is interpolated by linear interpolation algorithm and arc interpolation.Planning and Simulation of the algorithm.Aiming at the vibration of the palletizing robot in the start and stop stages,the trapezoidal acceleration and deceleration algorithm and S-type acceleration and deceleration algorithm of the servo motor are used to avoid overshoot and realize the suppression of the vibration in the start and stop stages.PWM pulse test,JOG motion mode,MOVEL motion mode and MOVEJ motion mode test are carried out on the designed palletizing robot hardware.Linear interpolation algorithm and arc interpolation algorithm test and repetitive positioning accuracy test are completed by using the palletizing robot actuator platform binder running.Finally,the experiments of S acceleration and deceleration to suppress the vibration in the start-stop stage is carried out by using the acceleration sensor.The experimental results are ideal.The designed palletizing robot has high repetitive positioning accuracy.The S acceleration and deceleration algorithm and pulse shaping input method can also suppress the vibration of the palletizing robot,which meets the requirements of high precision and low vibration of the manipulator in industrial production.