In this work, the energy-optimal trajectory planning and initial pick point searching problem for palletizing robot with high load capacity and high speed are studied, in which the pick point and place point of the robot are fixed to a desired location for each single task. These optimization problems have been transformed to ternary functional extremum problem and parameters optimal selection problem in which the performance index of the problems the rigid-flexible coupling dynamics model of the robot, and the constraint and boundary conditions of the robot are given. The fourth-order Runge-Kutta method, multiple shooting method, and traversing method are used to solve these specific mathematical problems. The effectiveness of the trajectory planning method is validated by the experimental and simulating results; thus the research work done here provides important support for subsequent palletizing robot research.
Liu, Y., Liang, L., Han, H., & Zhang, S. (2017). A Method of Energy-Optimal Trajectory Planning for Palletizing Robot. Mathematical Problems in Engineering, 2017. https://doi.org/10.1155/2017/5862457