Open AccessWorking Environment Design for Effective Palletizing with a 6-DOF Manipulator
Author(s) -
Ryosuke Chiba,
Tamio Arai,
Tsuyoshi Ueyama,
Taiki Ogata,
Jun Ota
Publication year - 2016
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/62345
Subject(s) - pallet , computer science , computation , position (finance) , path (computing) , motion planning , set (abstract data type) , process (computing) , task (project management) , base (topology) , collision , manipulator (device) , mathematical optimization , robot , simulation , algorithm , artificial intelligence , mechanical engineering , mathematics , engineering , computer security , mathematical analysis , systems engineering , finance , economics , programming language , operating system
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
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