Handling robot non-fixed high-velocity handling method
نویسندگان
چکیده
Abstract Handling robots are widely used today, and non-fixed handling is more effective than fixed in some specific scenarios. The of can increase the load reduce precise positioning process grabbing object, but velocity relatively slow for stability object. In addition, it needs to consider friction reaction force constraints on This paper proposes a high-velocity method robot. First, deduces that maintain dynamic balance object during into robot constraints. Then, time-optimal trajectory planning algorithm based reachability analysis solve robot’s satisfies process. leads markedly improved production efficiency, as concludes shortest possible time. Finally, experimental by ABB IRB1200 verifies this method.
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ژورنال
عنوان ژورنال: Journal of physics
سال: 2023
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2492/1/012025