Research on Yinma Palletizing Robot Motion Feasibility Based on MATLAB-Robotics Toolbox

摘要

To realize the working requirements of silver Horse Companys palletizing robot. Firstly, MATLAB software was used to establish mathematical model of the robot, and it calculated the robot workspace and generated workspace figures; it can also verify whether the predetermined grip and place points satisfy a predetermined workspace. Based on this analysis inverse kinematic of the robot, each joint angle from gripping position to place position was calculated. Polynomial interpolation method is applied to calculate the each joint trajectory; Finally, Robotics Toolbox is used to simulate the robot kinematics, and get the trajectory of the robot terminate executive body; each joint position, velocity trajectory can ensure no sudden change occurs in joint angular. In this paper, robot inverse kinematics completed robot end actuator position and posture transformation from the Cartesian space to the joint space. In order to make the joint space path planning possible, this will greatly simplify the calculation. And the joint space and Cartesian coordinate space does not exist a continuous relation, thus eliminating the singularity problem.