Stick-slip in hand guidance of palletizing robot as collaborative robot

Stick-slip is a challenging problem in palletizing robots and constitutes one of the main problems in precision positioning control. This study analyzed the stick-slip of a four-degree-of-freedom ceiling-mounted hand-guiding collaborative robot in a working space. A brief perspective on the focus of the experimental design is presented on the stick-slip friction of a palletizing robot's hand guidance as a collaborative robot. The palletizing robot typically has a simple mechanical structure but possesses over 16 bearings to constrain the motion of the dual-parallelogram linkage mechanism. First, the hand-guiding force was successfully measured. Second, an image model was built based on the obtained measurement results. Third, the stick-slip results for the working space were analyzed using an image model. Finally, related conclusions and recommendations are provided for precision positioning control. A significant aspect of this study is identifying the hand-guiding force in the working space of a ceiling-mounted collaborative robot. Stick-slip in hand guiding is a critical issue and is therefore important for collaborative robot users. The main contribution of this study is developing a feasible method for helping researchers understand where stick-slip occurs.