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Off-line Robot Palletizing Simulator Using Optimized Pattern and Trajectory Generation Algorithm

Title
Off-line Robot Palletizing Simulator Using Optimized Pattern and Trajectory Generation Algorithm
Author
한창수
Issue Date
2007-09
Publisher
IEEE
Citation
2007 IEEE/ASME international conference on advanced intelligent mechatronics, Page. 1-6
Abstract
Palletizing tasks are necessary to promote efficiency of storage and shipping. 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 pendent. 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 for the palletizing system that can be used more conveniently. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following. 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 used the wide 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, "Overlapped method" to reduce the computing load.
URI
https://ieeexplore.ieee.org/document/4412454https://repository.hanyang.ac.kr/handle/20.500.11754/106952
ISBN
978-1-4244-1263-1
ISSN
2159-6247; 2159-6255
DOI
10.1109/AIM.2007.4412454
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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