The Planning And Control System Development Of The Loading Robot

The freight transport and logistics industry,especially the container loading operation,is still labor-intensive,relying on inefficient manual handling,which restricts the automation level of the whole industry.It is urgent to adopt robotic automation technology to realize automatic loading,so as to solve such problems as the decline of population dividend,high labor intensity,low operating efficiency and outstanding safety problems.In this paper,aiming at the important demand of the fast consumer goods logistics industry,an open and intelligent loading robot planning and control system is developed for the self-developed telescopic arm full-automatic loading system.(1)According to the characteristics and requirements of the loading robot,the data interface,function requirement and performance requirement of the planning and control software system are analyzed;based on modularization and open thinking,the overall software architecture is designed,and the software functions are decomposed into such functional modules as human-computer interface,three-dimensional simulation,packing planning,motion planning,file system,sensor detection,communication,etc.The key modules and detailed designed.This scheme has the basic planning function of the general industrial robot control system,as well as the functions of loading process planning and three-dimensional visualization display,to meet the needs of loading robot planning and control.(2)To analyze and model the core algorithms of robot kinematics,path planning,motion planning and control,which are necessary for the system.Firstly,the mechanism principle of loading robot is analyzed,and the position kinematics model and velocity kinematics model of the robot are established;the technological process requirements of loading robot are studied,and the solution method of the passing point of loading path is given;the algorithm model of smooth trajectory planning for robot operation space is established,and the smooth trajectory of the robot is generated from the information of loading path points;and the two kinds of transportation,teaching and autonomous planning,are analyzed.Flow control strategy and process.The key algorithms are deeply studied,which lays a theoretical foundation for the realization of the planning and control system of the loading robot.(3)Based on Windows and C++ platform,the software of robot planning and control system is designed and implemented.Firstly,the C++ functional class library is designed by the design scheme of system functional modules.In the scheduling,it is divided into five threads: loading planning,motion planning,simulation,communication and main thread.Then each thread is implemented one by one.The validity and correctness of the system are verified by simulation of loading motion,software function test and actual experiment of loading robot.