Research on Motion Analysis and Trajectory Planning of Air Cargo Handling Robots
This study focuses on air cargo handling robots,analyzing their structure and establishing corresponding kinematic models for verification.By modeling and solving the robots workspace,the optimal layout for the air cargo handling area is determined.In response to the task requirements of air cargo handling,this study proposes the use of a seventh-order polynomial interpolation method to plan the robot's end trajectory.The jerk is set as the optimization target,and the interpolation method is optimized using the improved whale optimization algorithm.Simulation calculations are performed using MATLAB,and the experimental verification is conducted on a real-world experimental platform.Both the simulation and the real-world experiments have proven that the proposed methods in this study can effectively improve the robots motion stability and meet design requirements.
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