Palletizing Simulator Using Optimized Pattern and Trajectory Generation Algorithm

Lim, Sungjin; Yu, Seung-Nam; Han, ChangSoo; Kang, Min-Soo

doi:10.5772/8929

Cited by 3 publications

(5 citation statements)

References 8 publications

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“…Eqs. (5) and (6) illustrate both the time-domain equation and the S-domain equation for ease of comparison.…”

Section: ð4þmentioning

confidence: 99%

“…Transient trajectory generation research is an interesting area, and often finds itself in a highly nonlinear environment. Similar to trajectory optimization problems [1][2][3][4][5][6][7][8][9], the goal of designing transient trajectories is to reach the desired steadystate trajectory more quickly while simultaneously minimizing and unwanted micro-transients along the way. Micro-transients can be considered as a subcategory of transient trajectories.…”

Section: Introductionmentioning

confidence: 99%

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Deterministic Approaches to Transient Trajectory Generation

Cooper¹

2020

Deterministic Artificial Intelligence

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This chapter studies a deterministic approach to transient trajectory generation and control as applied to the forced Van der Pol oscillatory system. This type of system tends towards a strongly nonlinear system, which can be considered chaotic. A classical tuning method, targeted exponential weighting, and isolated trajectory fractionalization trajectory generation methods are examined. Illustrating the given deterministic approach via the Van der Pol system highlights the potentially iterative nature of deterministic methods, and that traditional optimal linear time-invariant control techniques are unable to perform as desired whereas even an idealized nonlinear feedforward control significantly outperforms at the steady-state. It will be shown that utilizing a-priori knowledge of the system dynamics will enable the isolated trajectory fractionalization method to minimize the nonlinear transient effects due to miss-modeled or unmodeled plant dynamics, and that this benefit can be coupled with the targeted exponential weighting approach for greatly decreased trajectory tracking error on the order of a 92% reduction of the objective cost function in the presented case study based on the forced Van der Pol system.

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“…Eqs. (5) and (6) illustrate both the time-domain equation and the S-domain equation for ease of comparison.…”

Section: ð4þmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Deterministic Approaches to Transient Trajectory Generation

Cooper¹

2020

Deterministic Artificial Intelligence

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“…In [2,3] is presented an offline programming robot palletizing simulator that consist of: (i) a fast algorithm to generate the palletizing product mosaic, (ii) a 3D robot simulator, and (iii) an optimized trajectory generation algorithm. According to its authors, with this system it becomes possible to program the industrial robot without the need of using the teach pendant or writing a single line of code.…”

Section: Related Workmentioning

confidence: 99%

Offline Programming of Collision Free Trajectories for Palletizing Robots

Silva2

Rocha

Relvas

et al. 2017

ROBOT 2017: Third Iberian Robotics Conference

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The use of robotic palletizing systems has been increasing in the so-called Fast Moving Consumer Goods (FMCG) industry. However, because of the type of solutions developed, focused on high performance and efficiency, the degree of adaptability of packaging solutions from one type of product to another is extremely low. This is a relevant problem, since companies are changing their production processes from low variety / high volume to high variety / low volume. This environment requires companies to perform the setup of their robots more frequently, which has been leading to the need to use offline programming tools that decrease the required robot stop time. This work addresses these problems and, in this paper, is described the solution proposed for the automated offline development of collision free robot programs for palletizing applications.

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“…However, in recent studies, as in the work of [4] and [26], simulation has proved to be useful to find proper solutions for it.…”

Section: Literature Reviewmentioning

confidence: 99%

“…In other cases, programming languages such as C+ in its different versions have been the chosen language for the development of the algorithms as referred in [3], [8], [10], [12], [14], [23], [25], [26], [31], [37] and [39].…”

Section: Literature Reviewmentioning

confidence: 99%

Una revisión literaria del Problema de Carga del Pallet

Vargas-Osorio

Zúñiga

2016

Lámpsakos

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Abstract. Nowadays, businesses face a fi erce competition. Hence, implementing strategies to achieve competitiveness is elemental. For that purpose, in the logistics fi eld, the proper use of resources is a must. According to several experts, storing and transportation have a high impact in the overall supply chain profi t. Therefore, lowering their impact by increasing effi ciency contribute to a higher profi tability. An effi cient palletizing can cause to easily ship more goods onto a pallet with the consequent savings in transportation and storage. The denominated Pallet Loading Problem (PLP) focuses on fi nding space optimization to load the maximum quantity of packed product onto the pallet.This article presents a literature review of the most prominent approaches with the objective of showing the main characteristics and solution methods proposed by researchers. Thus, the understanding of these solution approaches can help in the development of new strategies or approaches to deal with the palletizing. Keywords:Logistics, Transportation, Pallet, Literature Review, Pallet Loading Problem.Resumen: Actualmente, las empresas enfrentan una competencia agresiva, por lo que implementar estrategias para alcanzar la competitividad es elemental. En este sentido, en Logística, el uso adecuado de los recursos es imprescindible. El impacto en la ganancia que tienen el almacenaje y el transporte, conlleva la implementación de acciones para contrarrestarlo. Un paletizado efectivo puede contribuir a reducir costos.El Problema de Carga del Pallet (PLP) procura la optimización del espacio del pallet para lograr cargar la mayor cantidad de producto debidamente empacado. El uso práctico y benefi cios del PLP han dado pie a su estudio en la búsqueda de solución.Este artículo presenta una revisión literaria de los principales estudios para mostrar las características principales y los métodos de solución propuestos, generando una base de entendimiento que permita dar sustento a la elaboración de nuevos modelos y estrategias en la solución del PLP.

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Palletizing Simulator Using Optimized Pattern and Trajectory Generation Algorithm

Cited by 3 publications

References 8 publications

Deterministic Approaches to Transient Trajectory Generation

Deterministic Approaches to Transient Trajectory Generation

Offline Programming of Collision Free Trajectories for Palletizing Robots

Una revisión literaria del Problema de Carga del Pallet

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