上下料机器人关节速度规划

新兴的高新技术产业和智能化产业推动了上下料机器人的快速发展,但是其运动的平稳性限制着进一步的推广与应用.设计了一种4R上下料机器人.首先建立梯形、7段S曲线加减速控制算法,通过分析这两种算法对机器人运动平稳性的影响,提出了一种新型的S形加减速控制算法.利用ADAMS对三种算法进行仿真分析,结果表明新型的S形加减速控制算法在提高4R上下料机器人的运动平稳性方面更具优势并为4R上下料机器人后续的运动控制分析和优化奠定了基础.

Joint Velocity Planning of Loading and Unloading Robot

In this paper, a 4R loading and unloading robot is designed. In order to improve the stability of its movement, a new S-shaped acceleration and deceleration control algorithm is proposed. Firstly, a trapezoidal and 7-segment S-curve acceleration and deceleration control algorithm is established. By analyzing the influence of these two algorithms on the stability of robot motion, a new S-shaped acceleration and deceleration control algorithm is proposed, and the three acceleration and deceleration control algorithms are controlled by ADAMS. Simulation analysis is carried out, and the simulation results show that the new S-shaped acceleration and deceleration control algorithm has more advantages in improving the motion stability of the 4R loading and unloading robot, which lays the foundation for the subsequent motion control analysis and optimization of the 4R loading and unloading robot.