Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

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

PLP 를 위한 Fast Algorithm 과 팔레타이징 작업 제어 S/W 를 위한 로봇 시뮬레이터 개발

  • 임성진 (한양대학교 대학원 기계공학과) ;
  • 강맹규 (한양대학교 산업공학과) ;
  • 한창수 (한양대학교 기계정보경영공학부) ;
  • 송영훈 (현대중공업(주) 기계전기연구소) ;
  • 김성락 (현대중공업(주) 기계전기연구소) ;
  • 한정수 (한성대학교 기계시스템공학과) ;
  • 유승남 (한양대학교 대학원 기계공학과)
  • Published : 2007.05.01
Download PDF
⟨ Previous Next ⟩

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

References

  1. Michael A. Hernan I, 2000, 'Introduction to Automated Palletizng,' Anderson Technical Service, Inc., 850 Morrison Road Chillicothe, Ohio 45601, pp. 1-3
  2. Hyder Nihal Agha, William H. Decamp, Richard L.Shell and Ernest L. Hall, 2000, 'Robotic Palletizing of Fixed- and Variable-Size/Content Parcels,' Handbook of Industrial Automation Edited by Richard L. Shell and Ernest L. Hall, Marcel Dekker, Inc., pp. 673-686
  3. Subir Bhattacharya, Rahul Roy and Sumita Bhattacharya, 1998, 'An exact depth-first algorithm for the pallet loading problem,' European Journal of Operational Research, Vol. 110, No. 3, pp.610-625 https://doi.org/10.1016/S0377-2217(97)00272-5
  4. Guntram Scheithauer and Uta Sommerweisz, 1998, '4-Block Heuristic for the Rectangle Packing Problem,' European Journal of Operational Research, Vol. 108, No. 3, pp. 509-526 https://doi.org/10.1016/S0377-2217(96)00359-1
  5. Seung-nam Yu, Heu-kwon Yoon, Sung-jin Lim, Soung-yel Lee, Young-hoon Song and Chang-soo Han, 2005, 'The Development of Robot palletizing S/W using Fast Algorithm for PLP and 3D Robot Simulator,' Proc. KSME Spring Annual Meeting, pp. 1663-1668
  6. Young-Gun G. and Maing-Kyu Kang, 2000, 'A Fast Algorithm for Two-Dimensional Pallet Loading Problems of Large Size,' European journal of operational research, Vol. 134, No. 1, pp. 193-202 https://doi.org/10.1016/S0377-2217(00)00249-6
  7. Seungnam Yu, Sungjin Lim, Heukwon Yoon and Changsoo Han, 'The Development of Robot Palletizing Simulator using Pallet Pattern Algorithm and Trajectory Optimization,' AROB 2006, pp. 197-200
  8. Sung-Jin Lim, 2004, 'A Study on Analyzing Inverse Kinematics and Inverse Dynamics of 6 DOF Articulated Robot,' Hankuk Aviation University
  9. Phillip John Mckerrow, 1990, 'Introduction to Robotics,' Addison-Wesley, pp. 484-487
  10. Saeed B. Niku, 2001, 'Introduction to Robotics Analysis, Systems, Applications,' Prentice Hall, pp. 119-172
  11. Fu, K. S., Gonzalez, R. C., Lee, C. S. G., 1987, 'Robotics, Control, Sensing, Vision, and Intelligence,' McGraw Hill, pp. 462-468
  12. John J. Craig, 1989 'Introduction to Robotics, Mechanics and Control Second Edition,' Addison Wesley, pp. 230-246
  13. Jin-seo Park, 1997, 'A Comparative Analysis of Robot Languages and Design of a Robot Language Transfer, Hanyang University
  14. Naak-hyung Lee, 1998, 'A Design Experience on PC- Based Open Control for Robot Systems,' Hanyang University
  15. Yavuz A. Bozer and Ann Arbor, 1999, 'Material Handling and Warehousing,' Handbook of Industrial Robotics, Second Edition, Edited by Shimon Y. Nof, pp. 957-960
  16. George, J. and Robinson, D., 1980, 'A Heuristic Solution of the Rectangular Cutting Stock Problem' Computer J 23(4) https://doi.org/10.1093/comjnl/23.1.34
  17. Hall, E.L., Slutzky, G.D. and Mazouz, A.K., 1987, 'A Final Report, Developmentand Demonstration of Robotic Palletzing of Mixed Size and Weight Parcels for the Institute of Advanced Manufacturing Science'
  18. Steudel, H.J., 1979, 'Generating Pallet Loading Patterns: A Special Case of the Two-Dimensional Cutting Stock Problem,' Management Science 25, pp. 997-1004 https://doi.org/10.1287/mnsc.25.10.997
  19. Hong, K. D., Han, C. H. and Griffith, P., 1965, 'The Mechanism of Heat Transfer in Nucleate Pool Boiling-Part I Bubble Initiation, Growth and Departure,' Trans. of the KSME (B), Vol. 23, No. 5, pp. 887-904

Cited by

  1. Development of a robot simulator using a modified trajectory generation algorithm oriented towards the palletizing task vol.222, pp.7, 2008, https://doi.org/10.1243/09544062JMES641