Abstract
In this work, the energy-optimal trajectory planning and initial pick point searching problem for palletizing robot with high load capacity and high speed are studied, in which the pick point and place point of the robot are fixed to a desired location for each single task. These optimization problems have been transformed to ternary functional extremum problem and parameters optimal selection problem in which the performance index of the problems the rigid-flexible coupling dynamics model of the robot, and the constraint and boundary conditions of the robot are given. The fourth-order Runge-Kutta method, multiple shooting method, and traversing method are used to solve these specific mathematical problems. The effectiveness of the trajectory planning method is validated by the experimental and simulating results; thus the research work done here provides important support for subsequent palletizing robot research.
Highlights
During the last years, the rapid increase of the energy price together with strictly international and national policies has pointed out the problem of energy efficiency [1]
In order to verify the correctness of the dynamic equations, the torque curves of rigid-body dynamics model (RDM) and rigid-flexible coupling dynamics model (RFCDM) and ADAMS-based virtual prototype model (VPM) are compared
It can be observed that RFCDM can make the maximum torque error of joint 1 to joint 3 reduce from (647.06 Nm, 238.46 Nm, and 206.25 Nm) to (294.12 Nm, 230.77 Nm, and 61.25 Nm), respectively, which can verify the correctness of the rigid-flexible coupling dynamics model
Summary
The energy-optimal trajectory planning and initial pick point searching problem for palletizing robot with high load capacity and high speed are studied, in which the pick point and place point of the robot are fixed to a desired location for each single task. These optimization problems have been transformed to ternary functional extremum problem and parameters optimal selection problem in which the performance index of the problems the rigid-flexible coupling dynamics model of the robot, and the constraint and boundary conditions of the robot are given. The effectiveness of the trajectory planning method is validated by the experimental and simulating results; the research work done here provides important support for subsequent palletizing robot research
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