Trajectory Planning And Control Method Research Of Air Baggage Stack Robotic Arm

For the current domestic and international airports,airlines use manual or manual plus mechanical assistance when sorting and unloading the passenger`s baggage,resulting in inefficiency,baggage damage,etc.and designing a baggage sorting and loading,and the mobile robotic arm that unloads the baggage from the baggage conveyor into the car is designed to improve airport automation,reduce labor intensity and save time.According to the particularity of the baggage,the air baggage stack arm was designed and kinematics analysis was carried out.By comparing and analyzing the existing mechanical arm structure and combining with the working environment of the moving mechanical arm,the cylindrical mechanical arm structure,the number of mechanical arm joints and the extremity folder are determined.The mechanical structure of the air baggage robot arm is analyzed and the model is simplified.The mathematical model is established.Based on the model,the kinematics analysis of the manipulator is carried out.The prototype model is established by using the Robotics toolbox toolbox to verify the correctness of the model.The velocity response curve of the mobile platform driving motor is obtained by fuzzy PID control.The simulation of the brushless DC motor model and the fuzzy PID control model is carried out in the Simulink environment.The simulation results show that the fuzzy PID has the advantages of short response time,smooth curve and strong anti-interference ability in the speed response process of the motor.The rationality of this control method.Study the method of planning the trajectory of the air baggage stack robot arm.Aiming at the problem of trajectory optimization of the air baggage stack and the combination of the kinematics and dynamics of the manipulator,a robot trajectory optimization method based on genetic algorithm is proposed.A good initial population is obtained by the improved circle algorithm in the early stage of the algorithm.,reduce the convergence time of the algorithm.The method takes time optimal or joint acceleration as the target,joint velocity and its acceleration as constraints,and uses 4-5 polynomial curve to fit the joint trajectory to improve the smoothness of the joint trajectory of the mechanical arm and the trajectory planning of the robot arm time and joint jerk is optimized.The simulation results show the effectiveness of the method.Based on the above theoretical analysis and research,the selection of each actuator is determined,and the control system design of the air baggage code arm module and the mobileplatform module is completed.Based on the existing robot handling platform in the laboratory,the trajectory planning experiment was carried out,and the PLC program was written.The rationality of the proposed robot arm trajectory planning method was verified by experiments.