Automatic Control Method for Grasping Force of Sorting Manipulators for Randomly Placing Logistics Workpieces
The types of logistics workpieces are randomly placed in an environment,and the complexity of the gripping process is random.It is difficult for the robotic arm to predict the optimal starting position,and the gripping points will form collision conflicts.Unable to achieve the desired gripping force,an automated control method for the gripping force of the sorting robot arm for randomly placing logistics workpieces was proposed.Considering the complexity of logistics workpieces,a hyper elliptical Cartesian description model is adopted to set the gripping points for randomly placed logistics workpieces,and a mechanical arm gripping plane is estab-lished to determine the optimal gripping starting pose.On this basis,an adaptive control method based on sliding signals is used to ad-just the gripping force of the robotic arm according to the characteristics of different workpieces,achieving more intelligent automation control.Through comparative experiments,it can be seen that the sorting and numerical values of the gripping force corresponding to the logistics workpiece are consistent with the experimental data.This method can automatically adjust the gripping force of the robotic arm,achieving accurate,stable,and efficient sorting.
random placementlogistics artifactssorting manipulatorgrasp forceautomation control