Research on the motion planning method of book palletizing mechanical arm
Stability is an important performance metric of book palletizing by a mechanical arm.In this paper,a 6-DOF book palletizing mechanical arm is modeled based on the MDH(Modified Denavit-Hartenberg)method,and its inverse solution is derived by the analytical method.Three trajectory planning methods,including cubic polynomial interpolation,quintic polynomial interpolation and new S-curve acceleration and deceleration control,are analyzed and simulated using MATLAB robot toolbox to obtain their single joint displacement,velocity and acceleration curves.By comparing and analyzing the motion curves,it is found that the new S-shaped curve acceleration and deceleration trajectory planning method is the smoothest.Using the new S-curve acceleration and deceleration method for trajectory planning of a 6-DOF manipulator,a very smooth end trajectory is obtained.The results indicate that the new S-shaped curve acceleration and deceleration trajectory planning method is very stable and more suitable for the task of robotic arm book palletizing.
book palletizingmechanical armtrajectory planningMATLAB robot toolbox
万方数据
维普
