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面向仓储环境的分拣机械臂运动轨迹规划

发表时间:2021-01-08  浏览量:71  下载量:16
全部作者: 孙修东,胡文千,耿长兴,王蓬勃,孙立宁
作者单位: 上海农林职业技术学院;苏州大学机器人与微系统研究中心
摘 要: 针对仓储环境下,分拣机器人抓取货品时面临运动范围狭小、目标货品多样的作业问题,运用D-H法建立机械臂运动学模型,通过五次多项式插值法进行关节空间内的轨迹分析,规划仓储场景下机械臂运动路径,使机械臂末端能够平稳快速地到达货品位置,实现安全平稳的货品抓取。仿真与实验结果表明,运动路径的设定结合五次多项式插值方法能够有效避免机械臂奇异,使运动轨迹连续平滑,提高分拣作业效率。机械臂各关节连续平稳运行时,其末端最大速度为额定最大速度的27.37%,能够降低货品损坏率及提高货品抓取成功率。
关 键 词: 自动控制技术;轨迹规划;货品分拣;关节空间;五次多项式插值
Title: Motion trajectory planning of sorting robotic arm in warehouse environment
Author: SUN Xiudong, HU Wenqian , GENG Changxing, WANG Pengbo, SUN Lining
Organization: Shanghai Vocational College of Agriculture and Forestry; Robotics and Microsystems Centre, Soochow University
Abstract: In the warehouse environment, the sorting robot faces the operation problem of narrow movement range and diversified target goods when picking goods. The D-H method is used to establish the kinematics model of the robotic arm, and the trajectory in the joint space is analyzed by the fifth-order polynomial interpolation method to plan the motion path of the robotic arm in the warehouse scenario, so that the end of the robotic arm can reach the position of the goods smoothly and quickly, and realize safe and stable goods grabbing. Simulation and experimental results show that the combination of the motion path setting and the fifth-order polynomial interpolation method can effectively avoid the singularity of the robotic arm, make the motion trajectory continuous and smooth, and improve the efficiency of sorting operations. When the joints of the robotic arm are running continuously and smoothly, the maximum speed at the arm’s end is 27.37% of its rated maximum speed, which can reduce the rate of damage to goods and increase the success rate of goods grabbing.
Key words: autocontrol technology; trajectory planning; goods sorting; joint space; fifth-order polynomial interpolation
发表期数: 2020年12月第4期
引用格式: 孙修东,胡文千,耿长兴,等. 面向仓储环境的分拣机械臂运动轨迹规划[J]. 中国科技论文在线精品论文,2020,13(4):497-503.
 
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