目的 为了提高包装搬运机器人的码放效率，提升机器人运动轨迹的平滑性，降低机器人运动过程中因加速度突变出现的振动。方法 针对包装码垛机器人的运动轨迹特点，在机器人最大运动速度恒定的前提下，提出一种以时间和冲击为优化指标的五阶S曲线优化方法，将可变化参数引入优化冲击力中，在保证冲击力最小的情况下大大缩短机器人加速时间。结果 仿真结果表明，经过五阶S曲线优化的机器人加减速时间明显缩短，机器人的加速度曲线更加平滑。结论 该优化方法大大降低了机器人因速度突变出现的振动，有效提升了包装码垛机器人的工作效率。

The work aims to improve the stacking efficiency and motion trajectory smoothness of the package handling robot and reduce the vibration caused by the suddenly changed acceleration in the robot motion. With respect to the trajectory characteristics of package palletizing robot, on the premise that the maximum motion velocity of robot was constant, a fifth order S curve optimization method was put forward with the time and impact as optimization indexes. The variable parameters were introduced into the optimized impact force, and the acceleration time of the robot was greatly shortened when the minimal impact was ensured. The simulation results showed that the acceleration and deceleration time of the robot was obviously shortened and the acceleration curve was smoother after fifth order S curve optimization. The optimization method significantly reduces the vibration of the robot due to the sudden change of speed, and effectively improves the working efficiency of the packaging palletizing robot.