Research on Trajectory Smoothness Optimization and Dynamics Simulation of Palletizing Robot
Zhang Zhuo, Cheng Zhang · 2022 IEEE 6th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC ) · 2022
Aiming at the global optimization of the trajectory smoothness of the palletizing robot in the joint space, a trajectory planning method based on quintic polynomial interpolation including waypoints is proposed and the dynamic simulation is carried out. Taking the IRB 460 robot as the research object, the kinematics analysis is carried out, the motion trajectory is planned by using the quintic polynomial interpolation method, and the global optimization of smoothness is further completed, the MBS model of the robot is created, and the dynamics simulation is carried out to verify the effectiveness of the optimization method. The results show that the trajectory generated by this method is smoother than that of the conventional quintic polynomial interpolation method, which has certain engineering value and better scientific research significance.