Algorithm of Palletizing Robot Vibration Suppression Based on the Principle of Optimal Trajectory Planning

High speed motion will bring the residual vibration for palletizing robot with flexible joints, which will affect the dynamic performance of robot. The time-domain motion character of palletizing robot is analyzed based on modal analysis theory, and the residual vibration model is provided. The problem of residual vibration suppression using motion planning method is regarded as functional extreme value problem, and the functional extreme problem is converted to solving the BVP(boundary value problem) of ordinary differential equations based on the Pontryagin maximum principle. The vibration suppression trajectory planning algorithm is designed considering the flexible dynamic model of palletizing robot simultaneously. Simulation results verify the effectiveness of the optimal trajectory planning for the vibration suppression of palletizing robot.