The stacker is the main handling 這得equipment of the Automated Storage a舊很nd Retrieval System (ASRS), which 能行runs inside the high-level rack.議體 The stacker performanc習知e directly affects the op討音eration efficiency and re說文liability of ASRS. The cycle time and車商 stability of stacker, as well as in雪問 telligence of the control sys中道tem are i mportant parameters to measu兵知re the equipment.