로봇 팔레타이징 시뮬레이터를 위한 적재 패턴 생성 및 시변 장애물 회피 알고리즘의 제안
- Title
- 로봇 팔레타이징 시뮬레이터를 위한 적재 패턴 생성 및 시변 장애물 회피 알고리즘의 제안
- Other Titles
- Algorithmic Proposal of Optimal Loading Pattern and Obstacle-Avoidance Trajectory Generation for Robot Palletizing Simulator
- Author
- 한창수
- Keywords
- palletizing robot; robot trajectory optimization; robot palletizer; overlap method
- Issue Date
- 2007-11
- Publisher
- 제어로봇시스템학회
- Citation
- 제어로봇시스템학회 논문지, v. 13, No. 11, Page. 1,137 - 1,145
- Abstract
- Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP “Fast Algorithm” and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an “overlapped method” to reduce the computing load.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01975406&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/107374
- ISSN
- 1976-5622
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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