9 February 1989 Heuristic Techniques Application In A 3-D Space
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Proceedings Volume 1008, Expert Robots for Industrial Use; (1989) https://doi.org/10.1117/12.949141
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States
Abstract
This paper discusses the application of a heuristic technique to stack regular and irregular shapes objects on the same container or on the same pallet. The computer representation of any object is based on the recursive octree method where each unit volume element is a voxel. Then, the choice of the space taken by any shape object within the volume is made through the heuristic approach. The heuristic technique developed is an evaluation function that compares all the available spaces based on weighing factors and threshold levels. The parameters used are shape, space available, contents of the object, and dimensions. The goal is to choose the most feasible available space every time an object is ready to be stacked. The heuristic algorithm is implemented within a knowledge based system to control a flexible material handling cell. Generally the cell comprises a material handling robot, a conveyance system that brings the objects to the cell where objects are distributed randomly to the cell, a vision system to identify the objects and verify the stacking procedure, and a computer to control and initiate the decision making process to stack all shape objects on the same volume.
© (1989) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
A.Kader Mazouz, A.Kader Mazouz, } "Heuristic Techniques Application In A 3-D Space", Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); doi: 10.1117/12.949141; https://doi.org/10.1117/12.949141
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