期刊
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷 15, 期 6, 页码 -出版社
SAGE PUBLICATIONS INC
DOI: 10.1177/1729881418813805
关键词
Sorting system; trajectory planning; S-shaped ACC/DEC algorithm; displacement segmentation method; dynamic prediction of workpiece picking position
类别
资金
- Special Foundation for National Integrated Standardization and New Model of Intelligent Manufacturing, China [Z135060009002-132]
- National Natural Science Foundation of China [51405270]
To improve the sorting accuracy and efficiency of sorting system with large inertia robot, this article proposes a novel trajectory planning method based on S-shaped acceleration/deceleration algorithm. Firstly, a novel displacement segmentation method based on assumed maximum velocity is proposed to reduce the computational load of velocity planning. The sorting area can be divided into four parts by no more than three steps. Secondly, since the positions of workpieces are dynamically changing, a dynamic prediction method of workpiece picking position has been presented to consider all the possible positions of the robot and the workpiece, so as to realize the picking position prediction of the workpiece at any positions. Each situation in this method can constitute an equation with only one solution, and the existence of the solution can be verified by the proposed graphical method. The simulations of the motion time of the sorting process show that the proposed method can significantly shorten the sorting time and improve the sorting efficiency compared with the previous method. Finally, this method was applied to the Selective Compliance Assembly Robot Arm (SCARA) robot for experiments. In the physical picking experiment, the missing-pick rate was less than 1%, which demonstrates the efficiency and effectiveness of this method.
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