Optimization of Workpiece Placement in Production Operation Using Industrial Robot

(Application to Sealing Operation)

抄録

Vertical articulated industrial robots are widely used to automate various operations at manufacturing production sites. Meanwhile, off-line teaching systems are increasingly being employed to develop robot programs. However, depending on workpiece placements, problems such as sudden changes in posture of the robot and encountering singularity points may occur. In this study, we used manipulability, which represents the kinematic operation ability of the robot, as an index for evaluating robot motion, and examined the method for obtaining an optimum workpiece placement within a practical time limit. Additionally, we applied the proposed method to a sealing process and verified its effectiveness thorough simulations.