Trajectory planning of palletizing robot based on double S shaped velocity curve
                                                                           ZHANG Zhi song
                                        （Bit CNC Technology Application Co., Ltd., Langfang 065000, China）

Abstract: Aiming at the problems of rapid and smooth motion control of the palletizing robot, the trajectory planning of palletizing robot in joint space was studied, and a trajectory planning method based on double S speed curve was proposed. Taking hybrid cylindrical coordinate robot as the investigation subject, the sequence value of the relative position of the joint position of the robot was obtained on the basis of kinematics analysis of the robot, then the interpolation for joint space of the robot based on the double S shaped velocity curve was completed. The simulation results indicate that the trajectory planning method can guarantee the kinematic stability and effectively solve the mechanical structure of the impact and wear problems when the robot frequently start and stop.

Key words: palletizing robot; trajectory planning; S shaped velocity curve