Linear Trajectory Planning for Material Handling Robot

To avoid violent shaking in high-speed material handling, material handling robot must keep its velocity curve smooth during its motion. In order to meet these requirements, we propose a linear trajectory planning method and applied this method on a high-speed material handling robot with three joints. In this method, we firstly develop a piecewise cubic function based on continuous acceleration to generate robot tool trajectory. By setting the segmentation time and calculating corresponding coordinate position, the robot can perform continuous motion. At last we did simulation using Matlab and performed practical test on the material handling robot. Both results showed that this planning method can meet the material handling requirements with high speed and smooth movement.