AdaptPack Studio: Automatic Offline Robot Programming Framework for Factory Environments

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2019

Autores

Castro, A (Autor) Outra; Souza, JP (Autor) FEUP; Rocha, LF (Autor) FEUP; Silva, MF (Autor) Outra

Ata de Conferência Internacional

Título: 2019 19TH IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2019)

Páginas: 219-224

19th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Gondomar, PORTUGAL, APR 24-26, 2019

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-00Q-SH5

DOI: 10.1109/icarsc.2019.8733626

Abstract (EN): The brisk and dynamic environment that factories are facing, both as an internal and an external level, requires a collection of handy tools to solve emerging issues in the industry 4.0 context. Part of the common challenges that appear are related to the increasing demand for high adaptability in the organizations' production lines. Mechanical processes are becoming faster and more adjustable to the production diversity in the Fast Moving Consumer Goods (FMCG). Concerning the previous characteristics, future factories can only remain competitive and profitable if they have the ability to quickly adapt all their production resources in response to inconstant market demands. Having previous concerns in focus, this paper presents a fast and adaptative framework for automated cells modeling, simulation and offline robot programming, focused on palletizing operations. Established as an add-on for the Visual Components (VC) 3D manufacturing simulation software, the proposed application allows performing fast layout modeling and automatic offline generation of robot programs. Furthermore, A* based algorithms are used for generating collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. The software evaluation was tested inside the VC simulation world and in the real-world scenario. Results have shown to be concise and accurate, with minor displacement inaccuracies due to differences between the virtual model and the real world.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6