PLP를 위한 Fast Algorithm과 팔레타이징 작업 제어 S/W를 위한 로봇 시뮬레이터 개발
- Title
- PLP를 위한 Fast Algorithm과 팔레타이징 작업 제어 S/W를 위한 로봇 시뮬레이터 개발
- Other Titles
- Development of Robot Simulator for Palletizing Operation Management S/W and Fast Algorithm for ‘PLP’
- Author
- 한창수
- Keywords
- PLP; Pallet Loading Problem; 팔렛 적재 문제; Fast Algorithm; 패스트 알고리즘; Robot Trajectory Optimization; 로봇 경로 최적화; Auto-palletizing system; 오토 팔레타이징 시스템; Robot Palletizing Simulator; 로봇 팔레타이징 시뮬레이터
- Issue Date
- 2007-05
- Publisher
- 대한기계학회
- Citation
- 대한기계학회논문집 A, v. 31, No. 5, Page. 609 - 616
- Abstract
- Palletizing is necessary to promote the efficiency of storage and shipping tasks. These are, however some of the most monotonous, heavy and laborious tasks in the factory. Therefore many types of robot palletizing systems have been developed, but many robot motion commands still depend on the teaching pendent. That is, an operator inputs the motion command lines one by one. It is very troublesome, and most of all, the user must know how to type the code. That is why we propose a new GUI (Graphic User Interface) Palletizing System. To cope with this issue, we proposed a ‘PLP’ (Pallet Loading Problem) algorithm, Fast Algorithm and realize 3D auto-patterning visualization interface. Finally, we propose the robot palletizing simulator. Internally, the schematic of this simulator is as follows. First, an user inputs the physical information of object. Second, simulator calculates the optimal pattern for the object and visualizes the result. Finally, the calculated position data of object is passed to the robot simulator. To develop the robot simulator, we use an articulated robot, and analyze the kinematics and dynamics.
Especially, All problem including thousands of boxes were completely calculated in less than 1 second and resulted in optimal solutions by the Fast Algorithm.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00832682&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/106546
- ISSN
- 1226-4873
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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