Research of automatic stacking algorithm of hybrid-connection stacking robot

A new simple and valid, stacking robot stacking method based is presented. The process based the kinematic computation of the stacking robot. The rest pile position and orientation of palletizing robot is derived, in full consideration of the teaching pile position and orientation. Based on the derived reasonable position of pile, compensate the rotation of the robot end, counteract the posture changes brought by the robot base rotation. Finally, the proposed algorithm is tested by the Matlab on a simulation experiment, and the results show that the method is feasible, in addition, it can be applied to the actual work environment, reduce the teaching steps to improve the level of automation.