• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. 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 pendant. 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(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. 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 chose a widely 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, an "overlapped method" to reduce the computing load.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.814-819
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• 2007

Palletizing task is well-known time consuming and laborious process in factory, hence automation is seriously required. To do this, artificial robot is generally used. These systems however, mostly user teaches the robot point to point and to avoid time-variable obstacle, robot is required to attach the vision camera. These system structures bring about inefficiency and additional cost. In this paper we propose task-oriented trajectory generation algorithm for palletizing. This algorithm based on $A^{*}$ algorithm and slice plane theory, and modify the object dealing method. As a result, we show the elapsed simulation time and compare with old method. This simulation algorithm can be used directly to the off-line palletizing simulator and raise the performance of robot palletizing simulator not using excessive motion area of robot to avoid adjacent components or vision system. Most of all, this algorithm can be used to low-level PC or portable teach pendent

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2003.05a
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• pp.242-248
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• 2003

In this paper, we propose a new heuristic solution for 3D container packing problem for the variable size and the variable kind of freights. First we consider the total cost of container charges, i.e., loading, transportation and handling charges, where the priority of each frights are dealt. By minimizing the total cost of container charges, the kinds of container and its number can be decided automatically. From these factors, we con determine the position in the container and the loading sequence into the container. Finally, by equivalence of freight's weight in container, we can prevent the freight's damage on the handling.

• Journal of Navigation and Port Research
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• v.28 no.6
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• pp.531-539
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• 2004

In this paper, we propose a new heuristic solution for 3D container packing problem for the variable sizes and types of freight. Frist of all, we consider the total cost of container charge i.e., handling, loading and transportation, where each freight will be specifically identified The types of containers and its number to be loaded am be selected automatically by minimizing the total cost of container charge. Maximization of loading space am be achieved efficiently by operating the palletizing and/or depalletizing of freight. By considering these factors we can determine the position of freight in the container and the loading sequence to be packing into the container. In container packing simulation, we can verify that the proposed heuristic algorithm indicates more efficiency space utilization and shows the possibility of using on commercial business.