基于圆弧插补的工业码垛机器人轨迹规划  

Trajectory Planning for Industrial Palletizing Robot Based on Circular Interpolation

作　　者：牛方方[1] NIU Fangfang(Shanxi Vocational College of National Defense Industry,Xian 710300,China)

机构地区：[1]陕西国防工业职业技术学院,陕西西安710300

出　　处：《机械制造与自动化》2018年第4期149-151,共3页Machine Building & Automation

摘　　要：为实现工业码垛机器人末端执行器的圆弧运动轨迹,提升机器人的运动效率,提出了一种基于圆弧插补算法的机器人轨迹规划算法;给出了码垛机器人本体结构,分析了码垛机器末端执行器运动轨迹。为实现该轨迹,在笛卡尔空间进行圆弧插补,利用圆弧插补算法实现了该轨迹,并进行了仿真分析。仿真结果表明圆弧插补算法运行时间更短,提高了机器人运动效率。To achieve the circular trajectory of end effector of industrial palletizing robot to improve the efficiency of the robot motion,this paper proposes a robot planning algorithm based on circular interpolation algorithm,gives out the structure of the six axis stacking robot and analyzes the trajectory of the end effector of the six axis palletizing machine. In order to achieve this trajectory,the circular interpolation algorithm is applied in Cartesian space. The simulation results show that the operation time of the arc interpolation algorithm is shortened,and the efficiency of the robot is greatly improved.

关 键 词：工业码垛机器人 轨迹规划 圆弧插补 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]