Motion Planning and Simulation of Product Handling Operations for a 6-DOF Manipulator

MA Yanyan; FENG Jinzhi

doi:10.19554/j.cnki.1001-3563.2025.23.022

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Packaging Engineering ›› 2025, Vol. 46 ›› Issue (23) : 206-211. DOI: 10.19554/j.cnki.1001-3563.2025.23.022

Automatic and Intelligent Technology

Motion Planning and Simulation of Product Handling Operations for a 6-DOF Manipulator

MA Yanyan^a, FENG Jinzhi^b

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Abstract

The work aims to study the motion planning of packaging manipulator during handling operations to ensure smooth movement of each joint and maintain their efficiency and stability. The 6-DOF modular packaging manipulator was selected as the research object, the coordinate system was established with the standard D-H parameter method, and a simulation model was built on Matlab. Then, based on the actual handling tasks, the joint space method was adopted and the quintic polynomial interpolation method was used for path planning. For the fixed-point grasping and handling tasks on the production line, the operation process of the product was analyzed, and the path planning and simulation was conducted for the grasping, lifting, moving, and reaching operations on Matlab. The established manipulator model was correct. The angular positions of each joint when the manipulator reached each state were determined. The motion positions and velocities of each joint in the four operation tasks were calculated and their acceleration curves were smooth and continuous. The motion trajectory curve of the end effector was consistent with the actual operation situation, meeting the expected requirements. The conclusion is that the manipulator can complete the grasping and handling tasks of the packaged products with the expected motion accuracy. The simulation analysis results of its motion are consistent with the actual situation. The results can provide a theoretical basis for the motion control and practical application of the manipulator and offer reference significance for its subsequent application in packaging automation.

Key words

packaging manipulator / product handling / motion planning / simulation

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MA Yanyan, FENG Jinzhi. Motion Planning and Simulation of Product Handling Operations for a 6-DOF Manipulator[J]. Packaging Engineering. 2025, 46(23): 206-211 https://doi.org/10.19554/j.cnki.1001-3563.2025.23.022

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