Open AccessDual-arm Robot Fast Pick-and-Place on a Moving Conveyor
Author(s) -
Jiangcong Sheng,
Dingxin He,
Qing Gu,
Dongjun Gong
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2216/1/012025
Subject(s) - fifo (computing and electronics) , robot , dual (grammatical number) , computer science , robotic arm , table (database) , lookup table , kinematics , sequence (biology) , inverse kinematics , smt placement equipment , simulation , algorithm , artificial intelligence , real time computing , computer hardware , genetics , art , physics , literature , classical mechanics , biology , data mining , programming language
The pick-and-place (PNP) system of multi-robots on moving con- veyors have a wide range of industrial applications. In practice, the most used is first in first out (FIFO) algorithm. However, the efficiency of FIFO is low when the number of objects to be picked is large. To improve the PNP efficiency, we first build a kinematic model of the dual-arm robot and establish a PNP time lookup table based on the inverse kinematic algorithm. Then, we develop a PNP shortest time first out (STFO) algorithm to calculate the high-efficiency picking sequence. Dynamic experiments show that compared with FIFO, we improve the dual-arm robot PNP system efficiency by 20%.