面向仓储环境的分拣机械臂运动轨迹规划

he six-degree-of-freedom (6 DOF) manipulator was taken as the research object in order to explore the trajectory planning method of the warehousing sorting robot for the goods in a narrow warehouse environment. The kinematic model was established by Denavit-Hartenberg (D-H) method, and the quintic polynomial interpolation method was adopted to plan the trajectory of the manipulator with joint constraints in the joint space. The simulation and experimental results show that the quintic polynomial interpolation method can satisfy the constraints of the boundary condition. The joint motion trajectory is consecutive and smooth, and the corresponding trajectory of the end-effector has no jumping point, which ensures the robot arm runs under low speed. The maximum speed of each joint is about 27.37% of the rated maximum speed, which improves the mechanical safety performance.