Optimization of palletizing robots trajectory function based on the curve of servo motors torque
ZHANG Zhoukang, ZHOU Cheng, XIA Zhengya, HONG Liang
(Nanjing University of Science and Technology, School of Energy & Power Engineering, Nanjing 210094, China）
 

Abstract: Aiming at the problem that the vibration occured because of the joints speed lagged behind the trajectory planning speed. firstly, the planning of the trajectory function was as well as the analysis of joints kinematic equation was done, and the connection between motors torque and trajectory function was built. Secondly, with the tools of Matlab and Solidworks, the robots velocitytorque curve of joints trajectory function was built, and the maximum torque of joint and motor influenced each other was analysed. Finally, the easier method to optimize trajectory function was presented based on the curve of servo motors torque, the variety related to joints maximum torque in the trajectory function was elicited, and the robots trajectory function was optimized as well as the test of it with the robot experiment rig was finished. The results indicate that the palletizing speed is promoted from 4.5 s per bag to 3.95 s per bag after the optimization in this way, meanwhile, there is no vibration when with same joints speed, and the method is certified reasonable in trajectory planning.
Key words: palletizing robot; optimize trajectory; torque; trajectory function