Palletizing robots primarily perform gripping and placing operations, meaning the robot picks up materials from a conveyor belt and places 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 considering obstacles during the movement process, a "gate"-shaped motion trajectory is chosen. Note that the robot's end effector follows a "gate"-shaped trajectory when placing cartons at different positions on the pallet, with the endpoint coordinates differing only due to the different positions of the cartons on the pallet.
Palletizing, in essence, is the process of stacking materials into a modular unit according to a specific pattern, enabling the storage, handling, loading, unloading, and transportation of materials. Compared to traditional manual palletizing and gantry palletizers, palletizing robots are increasingly being applied in various fields due to their high production efficiency, small footprint, high mobility, and low labor intensity.