Research on motion unit trajectory control of stacking robot in industrial container production line
Traditional control methods have not fully considered the complex relationship between linkages and the accumulation of motion errors during the movement of palletizing robots on industrial container production lines,resulting in conflicts in the trajectory control of the robots.The trajectory con-trol can only be completed in a delayed equilibrium point waiting time mode,lacking a flexible adjust-ment process for the equilibrium point.There is a lack of flexible adjustment process for the equilibrium point,and the disadvantages are obvious.Therefore,a trajectory control method for industrial container production line robots is proposed.Using a cryptographic hash function to establish a mathematical model of robot motion,calculating the coordinate product of four linkages and setting a matrix,obtaining the ac-celeration and pose of each link in the standard state,searching for the minimum error between the cur-rent pose and the target pose,and converting it into a conditional function.Calculate the pose and joint angular velocity changes of the robot reaching the target point under different working conditions,set an exceeding range,and solve the difference between the robot and the balance point within the range.Ad-just appropriately according to the constraint relationship.Using particle swarm optimization algorithm to search for target points within the trajectory range,achieving modal fitting by equating position and accel-eration,obtaining a final control threshold,and implementing reasonable control according to the thresh-old.The experiment proves that this method has high control accuracy and good control effects on trajec-tory angles and distances.
palletizing robotmotion unit trajectory controlpassword hash functionparticle swarm optimiza-tionmodal fitting
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维普
