A Novel Attitude-Variable High Acceleration Motion Planning Method for the Pallet-Type Airport Baggage Handling Robot

摘要

Pallet-type end-effectors robots are widely used for airport baggage handling, because of their better adaptability to different types of baggage. A novel attitude-variable high acceleration motion planning method is presented for improving the handling efficiency, which is to move a pallet with non-fixed baggage as fast as possible under a given path, such that the baggage does not slip at any time. Firstly, the motion state model, which focuses on the friction force between the pallet and baggage during handling, is established. The influence of handling attitude on maximum handling acceleration is analyzed, which is verified by a real robot system made up of an IRB-6700 robot and a pallet. Then, a high acceleration motion planning method is proposed by changing the pallet attitude to avoid relative sliding. Finally, three numerical simulations are implemented to verify the proposed motion planning method. The results show that this method can at least improve handling efficiency by 17.64% in linear motion and up to 34.55% in curved motion compared with the horizontal fixed-attitude handling.