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Optimal path planning for robot palletizing task simulator

Title
Optimal path planning for robot palletizing task simulator
Other Titles
로봇 팔레타이징 시뮬레이터를 위한 최적화 경로 생성 알고리즘 개발
Author
임성진
Advisor(s)
한창수
Issue Date
2007-08
Publisher
한양대학교
Degree
Master
Abstract
Palletizing tasks are necessary to increase efficiency in 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. The core of a robot palletizing system, which is different from other robotic systems, consists of palletizing pattern generation and optimal path planning. We propose a new GUI for optimal palletizing pattern generation. To do this, we used the PLP “Fast Algorithm”. The Fast Algorithm can generate an optimal palletizing pattern quickly. In a palletizing system, path planning of the robot is performed at least ten and up to hundreds of times. Therefore, minimizing calculation and working time is important in path planning. We propose a new “Overlap Method” for collision-free path planning. The Overlap Method is specialized for the palletizing task and calculates a solution faster than an A-star algorithm. Furthermore, the solution to the Overlap Method optimizes task time better than the solution of an A-star algorithm. In addition, we develop the 3-D robot-palletizing simulator for verifying the solution of Overlap method.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/148838http://hanyang.dcollection.net/common/orgView/200000406943
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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