Robot Palletizing Simulation Using Heuristic Pattern Generation and Trajectory Optimization

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