Palletizing is the process of stacking materials into a stack according to a certain pattern, based on the concept of integrated unitization, so that the unitized stacks can realize logistics activities such as material storage, handling, loading and unloading, and transportation.
Compared with traditional manual palletizing and gantry palletizing machines, palletizing robots are gradually being applied to various fields due to their high production efficiency, small footprint, high mobility, and low labor intensity.
Palletizing robots primarily perform grasping and placing operations, which involves the robot picking up materials from the conveyor belt and placing them at designated positions on a pallet along a movement path in a cyclical motion. Therefore, based on the robot's positional relationship with the conveyor belt and pallet during palletizing operations, and taking into account obstacles during the movement process, a "gate" shaped movement trajectory is selected.
It was noted that when the robot's end effector was stacking cartons at different positions on the pallet, the trajectory was always in the shape of a "door". The only difference was the coordinates of the endpoint of the trajectory, which were different due to the different positions of the cartons on the pallet.
