Purpose

This paper aims to propose an automated framework for agile development and simulation of robotic palletizing cells. An automatic offline programming tool, for a variety of robot brands, is also introduced.

Design/methodology/approach

This framework, named AdaptPack Studio, offers a custom-built library to assemble virtual models of palletizing cells, quick connect these models by drag and drop, and perform offline programming of robots and factory equipment in short steps.

Findings

Simulation and real tests performed showed an improvement in the design, development and operation of robotic palletizing systems. The AdaptPack Studio software was tested and evaluated in a pure simulation case and in a real-world scenario. Results have shown to be concise and accurate, with minor model displacement inaccuracies because of differences between the virtual and real models.

Research limitations/implications

An intuitive drag and drop layout modeling accelerates the design and setup of robotic palletizing cells and automatic offline generation of robot programs. Furthermore, A* based algorithms generate collision-free trajectories, discretized both in the robot joints space and in the Cartesian space. As a consequence, industrial solutions are available for production in record time, increasing the competitiveness of companies using this tool.

Originality/value

The AdaptPack Studio framework includes, on a single package, the possibility to program, simulate and generate the robot code for four different brands of robots. Furthermore, the application is tailored for palletizing applications and specifically includes the components (Building Blocks) of a particular company, which allows a very fast development of new solutions. Furthermore, with the inclusion of the Trajectory Planner, it is possible to automatically develop robot trajectories without collisions.

中文翻译：

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AdaptPack Studio：用于离线工厂编程的自动化智能框架

目的

本文旨在为机器人码垛单元的敏捷开发和仿真提出一个自动化框架。还介绍了适用于各种机器人品牌的自动离线编程工具。

设计/方法/方法

这个名为AdaptPack Studio的框架提供了一个定制库，以组装码垛单元的虚拟模型，通过拖放快速连接这些模型，并在短时间内对机器人和工厂设备进行离线编程。

发现

进行的仿真和实际测试表明，机器人码垛系统的设计，开发和操作有所改进。AdaptPack Studio软件已在纯仿真案例和实际场景中进行了测试和评估。由于虚拟模型和真实模型之间的差异，结果已显示出简洁，准确的模型位移不准确的情况。

研究局限/意义

直观的拖放布局建模可加快机器人码垛单元的设计和设置，并自动离线生成机器人程序。此外，基于A *的算法可生成在机器人关节空间和笛卡尔空间中均离散的无碰撞轨迹。因此，工业解决方案可在创纪录的时间内用于生产，从而提高了使用此工具的公司的竞争力。

创意/价值

AdaptPack Studio框架在单个程序包中包括为四种不同品牌的机器人编程，模拟和生成机器人代码的可能性。此外，该应用程序是为码垛应用程序量身定制的，并且特别包含特定公司的组件（Building Block），从而可以非常快速地开发新解决方案。此外，通过包含轨迹规划器，可以自动开发机器人轨迹而不会发生碰撞。