Modeling and control of the MDJ robot palletizer

The MDJ120 palletizer researched and manufactured by the paper is used to transfer and palletize materials or cargoes on packing production line. Using the second Lagrangian kinetics, the author analyses the dynamical features of the robot and sets up its inverse dynamical equations. To improve the performance of the system, a new controller is designed with a sliding-mode fuzzy control algorithm, which makes use of the merits both of the fuzzy control and the sliding-mode control algorithm. The simulation results show that the new controller is effective, which can achieve high speediness and steady accuracy without overshoot. Compared with the traditional PID algorithm, the sliding-mode fuzzy control has obvious advantages.