Research on trajectory planning of airline baggage handling robot

Abstract

In order to improve the accuracy and efficiency of the baggage pick-up and placement process, the problem of bag-gage pick-up and placement trajectory planning of the airline bag-gage palletizing robot is studied. Taking the baggage palletizing experiment platform as the application scenario, the trajectory of the pick-up segment for accurately picking up the baggage with the pallet is planned. The 4-3-4 polynomial interpolation method is used to plan the trajectory of the placement segment, and MATLAB is used to simulate the trajectory. The simulation results show that the planned trajectory is smooth and continuous, there is no major impact during operation. Finally, the multi-ob-jective particle swarm optimization (MOPSO) algorithm is used to optimize the trajectory with the target of trajectory running time, luggage pallet motion impact and angular acceleration. Field experiments in the laboratory show that the actual trajectory of the robot is basically consistent with the planned trajectory. The optimized trajectory running time is less than 7 seconds, the trajectory running is stable. The angular acceleration distribution of each axis is relatively uniform, which can realize the accurate retrieval and stable placement of baggage, and effectively improve the accuracy and efficiency of baggage pick-up and placement.