Optimization of Workpiece Placement in Sealing Operation Using Industrial Robot Considering Manipulability
Yuta Sato and Koichi Morishige
Proceedings of 2018 International Symposium on Flexible Automation (ISFA2018),
ISFA2018-L035 (Kanazawa, Japan, July 15-19, 2018)
Off-line teaching systems are becoming the mainstream method of making a robot program, as opposed to a teaching playback method that requires the technical skill of a worker. The off-line teaching system enables to make the robot program on a computer and allows the simulation of robot motion by checking the program. However, to make an optimal program with consideration to the prevention of sudden change in the robotfs motion, singularity should be avoided and workpiece placement should be optimized. In particular, to determine the workpiece placement, the operator must perform many trial and error operations.
In this paper, we propose an optimization method for workpiece placement during a sealing operation by using an industrial robot. This method is based on manipulability, which is a measure of the robotfs manipulating ability. We confirmed the effectiveness of the proposed method by applying it to an actual sealing process.
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