Arc-shaped movement-track algorithm for palletizing robot
A palletizing robot and arc-shaped motion technology, applied in the field of palletizing robots, can solve the problems of insufficient flexibility, slow time-consuming, etc., and achieve the effect of reducing movement time, movement distance, and power usage cost.
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[0027] The present invention will be further described below in conjunction with the accompanying drawings of the specification.
[0028] Such as figure 2 , 3 As shown, a palletizing robot arc motion trajectory algorithm, the palletizing robot is a parallel rod palletizing robot, the algorithm includes the following steps:
[0029] (1) Set the coordinates of the current position of the palletizing robot P1 (x1, y1, z1), the coordinates of the target position P3 (x3, y3, z3), the coordinates of the transition point P2 (x2, y2, z2); the coordinate point P1 Is the starting point of the arc motion trajectory, the coordinate point P3 is the end point of the arc motion trajectory, the coordinate point P2 (x2, y2, z2) is the transition point from the coordinate point P1 to the coordinate point P3; the coordinate point P2 arrives from the coordinate point P1, The vertical height of the line formed by P3 is H;
[0030] (2) Obtain the coordinates P1 (x1, y1, z1) of the current position of th...
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