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롤테이너 적재 소포를 자동으로 디팔레타이징하기 위한 로봇 시스템 개발
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- Issue Date
- 2022-12
- Citation
- 로봇학회논문지, v.17, no.4, pp.431-437
- ISSN
- 1975-6291
- Publisher
- 한국로봇학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot’s controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.
- KSP Keywords
- 3d camera, Cooperative robots, Distribution center(DC), Field Test, Robot System, Robotic system, Success rate, flow chart, motion generation