Pally Path Planning

The path planning algorithm is an essential part of the palletizing software. It calculates the optimal movement from the pickup position to the pallet position (MoveTarget). These calculations are performed dynamically when the robot moves one or more boxes from the pickup to the pallet position. 


Movement when placing box:

Pickup position → Box free height → Smart Exit → Extra waypoint (max. 3) → Approach Position → Target Position

Movement when placing

The path starts from Pickup position and uses MoveL to Box free height. Next path is moving into Smart Exit with MoveJ. Between Smart Exit and Approach Position Pally is potentially dividing the move into several waypoints to avoid a long MoveJ. From Approach Position the move is performed with MoveJ to Target Position.


After picking the products, the robot moves vertically up until the box is removed from between the side guides. Depending on the current pickup and target positions, this is followed by one or more waypoints in order to move and rotate the box(es) without collision to the robot base or the existing boxes on the pallet. The approach position is the last waypoint in the proximity of the final target position. The robot uses lower acceleration and speed from the approach to the final target position to improve the pallet accuracy.


Movement when travel back to grab new box:

Vertical exit point → Extra waypoint → Smart ExitAbove pickup -->Pickup position

Movement when travel back to grab new box

Extra waypoints is added to avoid long MoveJ moves