Study On Motion Planning Method And Realization Of Control System Of Manipulator Of Loading And Unloading Robot

At present,the loading and unloading process of logistics operations are still mainly completed by time-consuming and labor-intensive manual bulk handling mode.The automatic loading and unloading realized by loading and unloading robots can greatly improve this situation.As the core module of the system,the operation efficiency and stability of the manipulator have a great impact on the overall performance.This thesis takes the manipulator in the system as the research object,designs its control system,and studies the optimal motion planning method under specific constraints.The main work and conclusions are as follows:Based on the basic hardware requirements and lightweight design criteria,the hardware scheme of "two controllers + EtherCAT bus" is determined.For the upper layer control software,UML modeling method is used,so that the use case model is established by use case diagram,the analysis model is established by using sequence diagram and class diagram,the hierarchical architecture under ROS framework is determined based on the system characteristics,and the interface prototype is designed according to the use case.For the underlying control software,the modularization scheme of driver is determined.Using the D-H method,the position kinematics and velocity kinematics models of the loading and unloading robots are established.Using the Lagrangian method,the dynamic model of the manipulator is established,and the correctness of the mathematical model is verified by Adams simulation.Aiming at the working environment and task characteristics,a path planning method combining inserting midpoint and A* search after rasterizing configuration space is proposed,and a quintic B-spline interpolation method which can be controlled by the determined path point and the end point derivative vector is used for high-order continuous trajectory planning.Aiming at the loading and unloading process,the input of motion planning problem is analyzed,and the kinematics and dynamics constraints of motion planning are deduced.Based on the requirements of trajectory for efficiency and stationarity,a convex optimization mathematical model for optimal motion planning problem is established,and a solution method is given.Finally,a standardized solution method for motion planning problems under the job scene is proposed.The planning simulation of a typical unloading operation verifies the practicability of the method.According to the design scheme,the control hardware and software system are completely realized.Experiments for unloading operations of various packages show that the control system can satisfy the requirements of actual operations well.The different planning results for different parameters of the packages verify the effectiveness of the proposed optimal motion planning method.The control system designed for the manipulator of the loading and unloading robot and the optimal motion planning method for the loading and unloading operation can meet the requirements of the operation and achieve the optimal control of the efficiency and stability of the manipulator under the kinematics and dynamics constraints.