A compensation method of the errors in palletizing work cell on the conversion from an off-line generated program to a real job program

This paper presents a compensation method for considerable pose errors when a simulated program is used for a real palletizing work cell. Since most robot poses are generated by off-line programming (OLP) software recently it is very important to compensate the errors. To show the severity of the errors, the errors are examined when there is no compensation first. To compensate the errors, a palletizing application-oriented method is presented here. It extracts the errors between simulation and real one and makes a transformation matrix for the compensation. The errors are minimized by the proposed geometric method. Also, each position after the compensation is checked for collision-free condition using an algorithm in the controller. Finally, this method is applied to the real palletizing application and the validation is shown.