Working Environment Design for Effective Palletizing with a 6-DOF Manipulator
Working Environment Design for Effective Palletizing with a 6-DOF Manipulator
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DOI：
10.5772/62345
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发表时间：
2016-03
影响因子：
2.3
通讯作者：
R. Chiba;T. Arai;T. Ueyama;T. Ogata;J. Ota
中科院分区：
文献类型：
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作者：
R. Chiba;T. Arai;T. Ueyama;T. Ogata;J. Ota
码垛是生产中一项重要的基础性工作。提出了一种提高机械手性能的设计方法。工作环境必须根据机械手的基本位置和托盘的形状和位置进行优化。由于问题的多个维度以及无冲突路径规划的必要性，设计工作环境是一个漫长的过程。为了减少计算时间，环境参数的快速评估与所提出的方法，其中我们设置通过点，以减少路径规划的计算时间。我们验证了我们的方法相比，传统的和状态-时间空间方法的有效性。我们表明，所提出的方法可以获得有效和方便的解决方案时，与其他方法相比。
Palletizing is an important and fundamental task for production. We propose a design method to improve the performance of a palletizing manipulator. The working environment must be optimized regarding the base position of the manipulator and the shape and position of the pallet. Designing a working environment is a lengthy process because of the many dimensions of the problem and the necessity of collision-free path planning. To reduce the computation time, the parameters of an environment are quickly evaluated with the proposed method, in which we set passing points to reduce the computation time of path planning. We verify the effectiveness of our method compared with conventional and state–time space methods. We show that the proposed method can obtain effective and convenient solutions when compared to the other methods.