Low-energy trajectory optimization for MD1200-YJ palletizing robot

Low-energy trajectory optimization for MD1200-YJ type palletizing robot under the door type trajectory working conditions is researched. Firstly, inverse dynamics model and energy consumption model of the palletizing robot are established. Secondly, according to the typical working condition of palletizing robot terminal "door" type trajectory, 5NURBS interpolation function is used for trajectory planning in joint space. Thirdly, a comprehensive optimization objective function is established, which consists of minimum average energy consumption and minimum peak value of jerk absolute value, based on the weighted coefficient method. The division time of trajectory are selected as optimization variables; the total time permanent and rated parameters of joint motors are selected as constraint condition; The Genetic Algorithm is used to solve the problem. Finally, through simulation method to compare energy consumption and jerk of before and after optimization, effectiveness of optimization method is proved.