NDLI: A compensation method of the errors in palletizing work cell on the conversion from an off-line generated program to a real job program

Content Provider	IEEE Xplore Digital Library
Author	Young-Hoon Song Sung-Rak Kim Soo-Jong Kim
Copyright Year	2010
Description	Author affiliation: Robotics Research Dept., Hyundai Heavy Industries, Co., LTD, Yongin, Korea (Young-Hoon Song; Sung-Rak Kim; Soo-Jong Kim)
Abstract	This paper presents a compensation method for considerable pose errors when a simulated program is used for a real palletizing work cell. Since most robot poses are generated by off-line programming (OLP) software recently it is very important to compensate the errors. To show the severity of the errors, the errors are examined when there is no compensation first. To compensate the errors, a palletizing application-oriented method is presented here. It extracts the errors between simulation and real one and makes a transformation matrix for the compensation. The errors are minimized by the proposed geometric method. Also, each position after the compensation is checked for collision-free condition using an algorithm in the controller. Finally, this method is applied to the real palletizing application and the validation is shown.
Starting Page	374
Ending Page	378
File Size	770869
Page Count	5
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Palletizing Automation Robot kinematics Layout Trajectory Calibration Collision avoidance Modeling Off-Line Programming (OLP) Program adaptation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Research of kinematics parameter calibration for robot manipulator based on measuring method

On-line collision avoidance between two robot manipulators using collision map and simple Escaping method

Path correction algorithm for spot welding robot in body-in-white applications

Obstacle avoidance for a power line inspection robot

Real-time path planner for arm robot collision avoidance

AN OFF-LINE ROBOT PROGRAMMING SYSTEM INCLUDING WORKCELL AND ROBOT CALIBRATION

Laser tagging: An approach for rapid robot trajectory definition

Robot autonomous error calibration method for off line programming system

Layout analysis and path planning of a robot palletizing production line

A compensation method of the errors in palletizing work cell on the conversion from an off-line generated program to a real job program

Similar Documents

Research of kinematics parameter calibration for robot manipulator based on measuring method

On-line collision avoidance between two robot manipulators using collision map and simple Escaping method

Path correction algorithm for spot welding robot in body-in-white applications

Obstacle avoidance for a power line inspection robot

Real-time path planner for arm robot collision avoidance

AN OFF-LINE ROBOT PROGRAMMING SYSTEM INCLUDING WORKCELL AND ROBOT CALIBRATION

Laser tagging: An approach for rapid robot trajectory definition

Robot autonomous error calibration method for off line programming system

Layout analysis and path planning of a robot palletizing production line

A compensation method of the errors in palletizing work cell on the conversion from an off-line generated program to a real job program