The Motion planning of Handling Robot Based on Time Optimal
LI Zhang-zhi · Modular Machine Tool & Automatic Manufacturing Technique · 2012
In order to improve the speed and stationarity of the Handling robot when working,the robot's trajectory is planed in joint space using Cubic spline curve,so that the speed and acceleration is consequent.For the specific movement and mechanical structure of the robot,A Planning method based on time optimal is proposed in the traditional model based on the PTP movement,the trajectory of palletizing process is re-planed.At last,it is verified that the speed of palletizing is greatly improved by using the method.