Description:
<jats:title>Abstract</jats:title>
<jats:p>Handling robots are widely used today, and non-fixed handling is more effective than fixed handling in some specific scenarios. The non-fixed handling of robots can increase the load and reduce the precise positioning process of grabbing the object, but the handling velocity is relatively slow for the stability of the object. In addition, it needs to consider the friction and reaction force constraints on the object. This paper proposes a non-fixed high-velocity handling method for the handling robot. First, it deduces the friction and reaction force constraints that maintain the dynamic balance of the object during the handling process into robot dynamic constraints. Then, the time-optimal trajectory planning algorithm based on reachability analysis is used to solve the robot’s time-optimal trajectory that satisfies the dynamic constraints of the object in the handling process. This leads to a markedly improved production efficiency, as the robot concludes the handling process in the shortest possible time. Finally, the experimental handling of the object by the ABB IRB1200 robot verifies this method.</jats:p>