A Path Planning Algorithm for a Materials Handling Gantry Robot and Its Validation by Virtual Commissioning

Adaptive and intelligent path planning is required to provide fully automated and optimized transportation systems directed at reducing the nonproductive time related to materials handling. This paper presents a case study from the machine-tool industry sector: In order to optimize the efficiency of a cut-to-size plant with feedbacks in the material flow, a materials handling gantry robot is employed for transporting panels of largely varying sizes. For each of these panels, a path within spatial limitations, which are partially very tight, is planned so that collisions are prevented. This paper describes the developed path planning algorithm and its integration with the programmable logic controller (PLC) of the robot. Towards improving solution quality and decreasing lead time, first, the integration with the PLC is realized by software components automatically generated based on code developed in a high-level programming language. Second, virtual commissioning of the materials handling robot was performed.