Robot Trajectory Planning And Control And Its Application In Industrial Packaging

The development and application of industrial robots have largely liberated the workforce,allowing more manpower to do smarter and more flexible work.Industrial robots instead of manpower do high-precision and repetitive work,which has positively the promoted the structural optimization of structure and efficient use of the labor force,and the production efficiency and quality have been greatly improved.Combined with automated control systems and vision,industrial robots can perform a wide variety of operations.Due to its high stability,strong anti-interference ability,easy to learn and use,PLC controllers are used as controllers for automation control systems.The embedding of the touch screen in the control system makes monitoring and operating more convenient.For this efficient production method in this paper,the trajectory planning and automatic control system of labelling robots in industrial packaging is studied.Firstly,the linkage coordinate system is established according to the actual specifications of the label packaging robot,and the D-H parameter is determined.Then use the rvctools toolbox in MATLAB to model.The SCARA robot and six-axis robot are used as research objects to solve the problem of forward and inverse kinematics.Secondly,the trajectory planning is compared and explored in joint space and cartesian space respectively,and the trajectory planning of the robot was selected in joint space.In this trajectory planning,4-3-4quadratic polynomial is used as the robot's motion trajectory for interpolation,and then the trajectory is optimized by particle swarm optimization algorithm,so that the path,speed and acceleration constraints can be satisfied under the premise that the specified action process takes the shortest time.Finally,CP1H-X40DT-D PLC controller,together with sensors,cylinders,motors and conveyor belts,is used to design the peripheral automatic control system of the labelling robot.Then the touch screen is connected with the PLC controller to record the production data in real time,and can display the alarm record in real time to achieve the purpose of real-time monitoring and control of the production line,so that the whole production process is stable,efficient,safe and reliable operation.In view of the disunity between the position of the robot end-effector and the coordinate of the tag,the nine-point calibration method was used for visual calibration to achieve accurate positioning of the tag and the tag.Before the whole equipment is put into production and operation,debugging and air run verification are carried out to ensure the safety and efficient production of the equipment.