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http://dx.doi.org/10.3795/KSME-A.2007.31.5.609

Development of Robot Simulator for Palletizing Operation Management S/W and Fast Algorithm for 'PLP'  

Lim, Sung-Jin (한양대학교 대학원 기계공학과)
Kang, Maing-Kyu (한양대학교 산업공학과)
Han, Chang-Soo (한양대학교 기계정보경영공학부)
Song, Young-Hoon (현대중공업(주) 기계전기연구소)
Kim, Sung-Rak (현대중공업(주) 기계전기연구소)
Han, Jeong-Su (한성대학교 기계시스템공학과)
Yu, Seung-Nam (한양대학교 대학원 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.31, no.5, 2007 , pp. 609-616 More about this Journal
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.
Keywords
PLP(Pallet Loading Problem); Fast Algorithm; Robot Trajectory Optimization; Auto-palletizing system; Robot Palletizing Simulator;
Citations & Related Records

Times Cited By SCOPUS : 2
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