An Algorithm of Arc Movement Trajectory for Palletizing Robot

Abstract

The invention provides an arc-shaped movement-track algorithm for a palletizing robot. The arc-shaped movement-track algorithm comprises the following steps: (2) acquiring the coordinate P1( x1, y1, z1) of the current position of the palletizing robot, and the coordinate P3 (x3, y3, z3) of the target position of the palletizing robot; (3) enabling the palletizing robot to read an input height parameter H, and converting the current-position coordinate P1 and the target-position coordinate P3 into a world coordinate; (4) bringing the current-position coordinate P1, the target-position coordinate P3 and the height parameter H into a basic arithmetic function so as to obtain an interim coordinate P2; (5) converting the obtained interim coordinate P2 into a coordinate under the world coordinate, sending the obtained coordinate to an application layer through a port; (6) using a Circle command to plan an arc-shaped movement track at a user application layer of the palletizing robot. Because the movement track of the palletizing robot is planned into a parabola, the movement distance of the robot is shortened, so that the movement time of the robot in each period is shortened, and besides, the movement of the robot is more flexible.

Description

technical field [0001] The invention relates to a stacking robot, in particular to an arc motion trajectory algorithm of a stacking robot. Background technique [0002] Palletizing robots are mainly used in places where large loads and high-speed environments replace manual operations. The most prominent problems are fast tempo, energy saving, and flexibility. Such as figure 1 As shown, traditional palletizing actions are basically based on the action trajectory of the "door" glyph mechanism. The action process is divided into three steps. The first step is to grab it straight down, then pull it up and translate it, and put it down vertically when it reaches the target position, and then return according to the opposite action to continue to the next beat. Since the robot moves through linear motion interpolation each time, the movement of the robot is relatively mechanized and not flexible enough. In addition, the walking path has two inflection points in the middle of a ...

AI Technical Summary

Problems solved by technology

Since the robot moves through linear motion interpolation each time, the movement of the robot is relatively mechanized and not flexible enough. In addition, the walking path has two inflection points in the middle of a right angle, and there are three times of acceleration and deceleration within half a cycle, so this method is time-consuming and slow. flexible

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