Title:
コンピュータシステム操作方法、コンピュータシステム、CAD/CAM装置およびデータのセットを探索する方法
Document Type and Number:
Japanese Patent JP3566920
Kind Code:
B2
Abstract:
A method and system for optimizing the placement of a robot in a workplace so as to minimize cycle time is defined. A modified simulated annealing method (SA) is applied to the problem of robot placement in CAD systems, in the context of welding tasks. The objective function for optimization is cycle time, which can be obtained from available robotic CAD software. The research domains are simplified, and the SA method is applied to yield an optimal or near-optimal solution to each problem. To obtain the optimal placement of the robot, the research domain is first simplified by determining an acceptable base location domain, then obstacle shadows, which are subtracted from the previous domain to give the free acceptable base location domain. A modified SA method is applied to this domain, using task feasibility tests before simulating the cycle time, in order to save CPU time. The modified SA algorithm gives the global optimal placement, together with other local minima and an estimate of an efficient region where the robot may be positioned.
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Inventors:
David Ballard
Application Number:
JP2000309792A
Publication Date:
September 15, 2004
Filing Date:
October 10, 2000
Export Citation:
Assignee:
DASSAULT SYSTEMES
International Classes:
B25J13/00; B25J9/16; B25J9/18; B25J19/00; G05B19/19; G05B19/4061; G05B19/4097; G06F17/50; (IPC1-7): G05B19/19; B25J13/00; B25J19/00; G05B19/4097; G06F17/50
Domestic Patent References:
| JP561539A | ||||
| JP5224734A | ||||
| JP2000141184A | ||||
| JP2000141183A |
Attorney, Agent or Firm:
Yoshikazu Tani
Kazuo Abe
Denichi Hashimoto
Kazuo Abe
Denichi Hashimoto