Robot Palletizing Simulation Using Heuristic Pattern Generation and Trajectory Optimization
Robot Palletizing Simulation Using Heuristic Pattern Generation and Trajectory Optimization
复制标题
使用启发式模式生成和轨迹优化进行机器人码垛仿真
DOI：
10.1109/sice.2006.315731
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Changsoo Han
中科院分区：
文献类型：
--
作者：
Sung;Seungnam Yu;Maing;Changsoo Han
托盘化作业是提高仓储和运输效率的必要手段。然而，这是工厂里最单调、最繁重的工作之一。因此，许多类型的机器人装配系统已经被开发出来。但许多机器人的运动指令仍然依赖于示教。也就是说，操作员逐个输入运动命令行。这是非常麻烦的，最重要的是，用户必须知道如何键入代码。因此，我们提出了新的GUI界面，可以更方便地使用。为此，我们使用PLP算法，“快速算法”，并实现了三维自动图案可视化。3D图案的用法如下。首先，操作员可以识别自己任务的结果并对其进行编辑。其次，将物体的位置值传递给机器人模拟器。使用该位置，可以模拟脱硫操作。我们使用“现代HHI seriesreg”，并分析运动学和动力学实现到机器人模拟器。本文提出了三维构图算法和三维机器人构图模拟器，并应用A* 算法寻找机器人的最优轨迹
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 robot palletizing system 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. It is very troublesome and most of all, user must know how to type the code. So we propose the new GUI interface of palletizing system that can be used more conveniently. To do this, we use the algorithm of PLP, "fast algorithm" and realize the 3D auto-patterning visualization. The usages of 3D pattern are following. First, an operator can identify the result of own task and edit it. Second, pass the position value of objects to a robot simulator. Using that position, palletizing operation can be simulated. We use the "Hyundai HHI seriesreg" and analyze the kinematics and dynamics to realize into a robot simulator. In this paper we propose the 3D patterning algorithm and 3D robot palletizing simulator, and apply the A* algorithm to find the optimal robot trajectory