Workspace simulation and trajectory planning of food handling robot

Authors

CAI Guo-qing, Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei,Cangzhou, Hebei 061001 , China ；Industrial Manipulator Control and Reliability TechnologyInnovation Center of Cangzhou, Cangzhou, Hebei 061001 , China ；School of Electrical Engineering,Hebei University of Water Resources and Electric Engineering, Cangzhou, Hebei 061001 , China
HAO Rui-lin, Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei,Cangzhou, Hebei 061001 , China ；Industrial Manipulator Control and Reliability TechnologyInnovation Center of Cangzhou, Cangzhou, Hebei 061001 , China ；School of Electrical Engineering,Hebei University of Water Resources and Electric Engineering, Cangzhou, Hebei 061001 , China
ZHOU Li-jie, Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei,Cangzhou, Hebei 061001 , China ；Industrial Manipulator Control and Reliability TechnologyInnovation Center of Cangzhou, Cangzhou, Hebei 061001 , China ；School of Electrical Engineering,Hebei University of Water Resources and Electric Engineering, Cangzhou, Hebei 061001 , China
SHI Yan, Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei,Cangzhou, Hebei 061001 , China ；Industrial Manipulator Control and Reliability TechnologyInnovation Center of Cangzhou, Cangzhou, Hebei 061001 , China ；School of Electrical Engineering,Hebei University of Water Resources and Electric Engineering, Cangzhou, Hebei 061001 , China

Abstract

Objective: Analyzed the workspace of 6-DOF food handling robot and planed the motion trajectory, so as to provide basis for the layout of food handling platform in workstation and the motion control of robot. Methods: Composition and structure of the robot were analyzed, the kinematics model was established, and the kinematics model was verified by MATLAB. Based on this, the workspace of the robot was modeled and solved, the working area of the robot was obtained, and the reasonable layout position of the food handling table was given; combined with the requirements of food handling task, a three-stage quintic polynomial interpolation method was proposed for robot end trajectory planning. The effectiveness of this method was verified by MATLAB simulation and experiment. Results: The reasonable layout space of the food handling table was the area of z＞0 mm and 200 mm＜r＜500 mm. The method of three-stage quintic polynomial trajectory planning can make the robot perform the food handling task smoothly, and increase the accurate control of the point position, speed and acceleration of the robot. Conclusion: The method of three-stage quintic polynomial trajectory planning is effective for the robot to perform the food handling task.

Publication Date

10-16-2022

First Page

114

Last Page

119

DOI

10.13652/j.spjx.1003.5788.2022.90122

Recommended Citation

Guo-qing, CAI; Rui-lin, HAO; Li-jie, ZHOU; and Yan, SHI (2022) "Workspace simulation and trajectory planning of food handling robot," Food and Machinery: Vol. 38: Iss. 9, Article 21.
DOI: 10.13652/j.spjx.1003.5788.2022.90122
Available at: https://www.ifoodmm.cn/journal/vol38/iss9/21

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