PLP를 위한 Fast Algorithm과 3차원 로봇 시뮬레이터를 이용한 GUI기반 팔레타이징 S/W 개발

Abstract

Automation of 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. So, many types of palletizing S/W 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 Palletizing System that can be used more conveniently. In this study, the fast algorithm of PLP is considered to acquire the every points on the pallet and to simulate the robot motion by acquired points. Finally, the optimal Robot path and cycling time is proposed.