Kinematic Analysis and Trajectory Planning of a 6-DoF Palletizing Robot

Abstract

With the rise of the intelligent handling industry, palletizing robots are becoming more and more widely used in industry. How to correctly and accurately analyze the kinematics and trajectory planning of the palletizing process has gradually become the research focus of the industry. However, in the research process, there are still problems of non-correspondence between the kinematic positive and inverse solution results, discontinuous robot motion curves, and unstable motion. Therefore, in this paper, kinematic modelling analysis and path planning of Fanuc industrial robot m20id/25 are carried out using the Devanit-Hartenberg (D-H) parametric method and fifth-degree polynomial. The robot is also required to pass through different working points in different work stages to ensure stable variations of motion profile. The motion trajectory animation of the robot is successfully simulated using the Robotics Toolbox of MATLAB. Smooth and continuous motion curves are also obtained. The research of this paper has certain reference significance for the applications of palletizing robots in actual production environments. It also provides a theoretical foundation for the subsequent further research.