패턴생성 알고리즘 및 경로 최적화 기술을 포함한 로봇 팔레타이징 시뮬레이터 개발

Abstract

Palletizing task is necessary to promote efficiency of keeping and shipping task. This is, however one of the most monotonous and heavy laborious work in the factory. That is why many types of Robot palletizing system have been developed. But many robot motion commands is still depends on the teach pendent. That is, the operator input the motion command line one by one. So we propose the new GUI Interface of Palletizing System that can be used more conveniently. To do this, we use the algorithm of PLP, "Fast Algorithm" and realize the 3D Auto-Patterning visualization using robot simulator. The usages of 3D pattern are following. First, an operator can identify the result of own task and edit it. Second, pass the position of object to a robot simulator. Using that position, palletizing operation can be simulated.