TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

DEVELOPMENT OF AN AUTOMATED STORAGE/RETRIEVAL SYSTEM

Chung Tan Lam(1), Nguyen Tuong Long(2), Phan Hoang Phung(2), Le Hoai Quoc(3)

(1) National Key Lab of Digital Control and System Engineering (DCSELAB), VNU-HCM
(2) University Of Technology, VNUHCM
(3) HoChiMinh City Department of Science and Technology
(Manuscript Received on July 09th, 2009, Manuscript Revised December 29th, 2009)

ABSTRACT: This paper shows the mathematical model of an automated storage/retrieval system

(AS/RS) based on innitial condition. We iditificate oscillation modes and kinematics displacement of
system on the basis model results. With the use of the present model, the automated warehouse cranes
system can be design more efficiently. Also, a AS/RS model with the control system are implemented to
show the effectiveness of the solution. This research is part of R/D research project of HCMC
Department of Science and Technology to meet the demand of the manufacturing of automated
warehouse in VIKYNO corporation, in particular, and in VietNam corporations, in general.
Keywords: automated storage/retrieval system , AS/RS model

safety condition, saving investerment costs,

1. INTRODUCTION

managing professionally and efficiently. This

An AS/RS is a robotic material handling

system has been used to supervise and control

system (MHS) that can pick and deliver

for automated delivery and picking [1], [2], [3].

material in a direct - access fashion. The

In this paper, several design hypothesis is

selection of a material handling system for a

given to propose a mathematical model and

given manufacturing system is often an

emulate to iditificate oscillation modes and

important task of mass production in industry.

kinematic displacement of system based on

One must carefully define the manufacturing

innitial conditions of force of load. As a results,

environment, including nature of the product,

we decrease error and testing effort before

manufacturing process, production volume,

manufacturing [4], [5]. No existing AS/RS met

operation types, duration of work time, work

all the requirements. Instead of purchasing an

station characteristics, and working conditions

existing AS/RS, we chose to design a system

in the manufacturing facility.

for our need of study period and present

Hence, manufacturers have to consider

several

specifications:

high

throughput

manufacturing in VietNam.
This works was implemented at Robotics

capacity, high IN/OUT rate, hight reliability

Division,

and better control of inventory, improved

Control and System Engineering (DCSELAB).

National Laboratory of Digital

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Science & Technology Development, Vol 13, No.K4- 2010

Structural deformation is not depend on bar

2. MODELLING OF AS/RS

An AS/RS is a robot that composed of (1)

a carriage that moves along a linear track (xaxis), (2) one/two mast placed on the carriage,

axial force. Assume that the mass of each part

in AS/RS is given as m1, m2 , m3, and mL is
lifting mass.

(3) a table that moves up and down along the

When operation, there are two main

mast (y-axis) and (4) a shuttle-picking device

motions: translating in horizontal direction with

that can extend its length in both direction is

load f1; translating in vertical direction with

put on the table. The motion of picking/placing

load f2. The innitial conditions of AS/RS are

an object by the shuttle-picking device is

lifting mass, lifting speed, lifting height,

performed horizontally on the z-axis.

moving speeds, inertia force, resistance force,

In this paper, an AS/RS is considered a

none angular deflection construction in cross
section in place where having concentrated

which can be used to establish mathematical

model of AS/RS and verify the system
behavior.
The assumed parameters of the AS/RS are

mass [4], [5], [6]. There are several assumtions

given in Table 1.

as follows:
The

weight

concentrated mass

of

construction

post

is

in floor level (Fig. 1).

x3

m3

Bar 1
Bar 2

f2

K1
x1

Fig. 1: Model of AS/RS

Trang 26

x2

K2
mL
m2

m1

X4
f1

TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

Table 1 Parameters of the AS/RS
Parameter

Value

m1

150

[kg]

m2

30

[kg]

mL

100 500

[kg]

m3

20

[kg]

[%]

20

[m]

21x106

[N/cm2]

2.8x103

[cm4]

k1

352.8

[N/cm]

k2

352.8

[N/cm]

kc

6594

[N/cm]

20

[mm]

2.1 Mathemmatical Model

k1 =

6 EI
3
x4

k2 =

6 EI
( L x4 )

Case 1: Horizontal moving along steel

rail with load f1 [7]

with

It is assume that (1) Structural deformation

is not depend on bar axial force; (2) The mass

x4 =

where

, then k1= k2

E:

elastic

coefficient

of

material

in each part of automated warehouse cranes is

I: second moment of area

given as m1, m2 , m3, in there, mL is lifting

k1,

mass; (3)When the system moves, there are

k2

stiffness

proportionality

two main motions: travelling along steel rail

underload f1 and lifting body vertical direction

Case 2: Vertical moving with load f2 [8]

underload f2.

&
m2 L &
x&
4 + k c x4 + C3 x 4 = f2

The following model for traveling can be

obtained:

mL
kc

: stiffness of cable

: diameter of cable

&
m13&
x&
1 + k1 ( x1 x 2 ) + C1x 1 = f1
m23 &
x&
2 + k1 ( x2 x 1 ) + k 2 ( x2 x3 ) = 0

&
m3 &
x&
3 + k2 ( x3 x 2 ) + C2 x 3 = 0

where m13 = m1+ m2 + mL + m3

where m2L = m2 +

kc =

AE
d 2E
=
4( L x4 )
l

2.2. Solution of motion equation

a. Travelling along steel rail underload f1

m23 = m2 + mL + m3
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Science & Technology Development, Vol 13, No.K4- 2010

If resistance force is skipped, the motion

m13 0 0

0 m 23 0
0 0 m

k1 -k1
0 x1

+
-k
k
+
k
-k
1 1 2
2 x2
0
-k 2
k 2 x 3

&
x&1
&
x&2
&
x&3

&+ kx = F
or in the matrix form Mx&

superposition method [9] as the followings:

Eigen problem: k = M 2 (k M 2 ) = 0

that satisfy det k M 2 = 0

where

: vibration frequency (rad/s).

x4 =

k1

} -k1
0

b = 1.183x10

2 = 1.135 (rad/s)

These

23

-k1
k1 + k 2
-k 2

0 31

2
-k 2 b 32 = 3
k2

33

2 = {0.025 0.031 0.033}

, = {0.001
3

T
0.041 0.181}

(3)

need to be satisfied iT ki = i 2

- T k = 2
2
2
2

0
21

2 a = 0.025
-k 2 a 22 = 2
k2

(2)

1 values is any

If a and b are positive, i values is as follows:

Trang 28

3 = {1 34.9 153.073}

from the equation

2
( k M i )i = 0 are as follows:

-k1
k1 + k 2
-k 2

- T k = 2
3
3
3

The solutions

3 = 18.095 (rad/s)

Eq. (3), we have

b 31 32 33

2 = 1.065 (rad/s), 3 = 4.254 (rad/s).

Substituting constant values in Table 1 into

k1

a {21 22 23} -k1

0

(1)

2 = {1 1.252 1.338}

k -m 2 -k

0
1
1 13

2
det -k1
k1 + k 2 -m 23
-k 2 = 0

2
-k 2
k 2 m3
0

At the position

f1

1 = 0 (rad/s)

: n level vector

1 = 0 (rad/s),

Solution of Eq. (1) can be solved by

equation can be written as:

TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

It

can

be

seen

that

the

condition

T
M = I is satisfied.

T
Ri ( ) = i f (t )
R2 ( ) = 0.025 f1 (t )

If resistance force is skipped, the motion

equation will be written as the followings:

R3 ( ) = 0.001 f1 (t )

Using integral Duhamel to find motion

2
T
&
(t ) + x(t ) = f (t )
x&

equation [9]

and n individual equation can be written:

2
&
x&
i (t ) + i xi (t ) = Ri ( )
x i (t ) =

1 t

(6)

R ( ) sin i (t ) d + i sin i t + i cos i t

i 0 i

R ( )
x&i (t ) = i
sin i t ii cos i t ii sin i t
i

i and i can be specified from initial

(7)
where : i = i 1 i 2

conditions

i : damping ratio

xi t =0 = i M u

x&i (t)=

T
x&i t =0 = i M u&

Geometric inversion can be defined by

principle of superposition:
u(t)=[ ][x(t)]=[1 ][x1 (t)]+[2 ][x 2 (t)]+....+[n ][x n (t)]

Displacement of point is defined by

principle of superposition [9]

e-iit ( ( i
i i +ii ) sini t+( i
i i - ii ) cosi t )
We find i and i value based on initial
condition
Displacement of point is defined by
principle of superposition (Eq. (8))

n
u i (t)= i x i (t)
i=1

Influential

Using integral Duhamel to find motion

equation [9]:
- (t-)
1 t
sini (t-)d +
R i ()e i i
i 0
- t
e i i i sini t+i cosi t

dynamic

load

act

(8)
upon

warehouse cranes in some cases

If resistance forces are considered

x i (t)=

Ri ()e-iit i2i2
+i sini t 2
2 2
i +i i i

The acting force is a constant and system

has influential resistance force
It is assumed that f1 = Wt = 423.6 (N)
From Eq. (4) and Eq. (5), we have

R2 ( ) = 0.025 f1 = 0.025 * 423.6 = 10.59 (N)

(9)
R3 ( ) = 0.001 f1 = 0.001* 423.6 = 0.42 (N)
From Eq. (10)
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Science & Technology Development, Vol 13, No.K4- 2010

2

Substituting R3 ( ), 3 , 3 into Eq. (9) and

from Eq. (9) and Eq. (11), we have 3 = 0 ,

2 = 2 1 2 = 1.065 1 0.02 = 1.06 (rad/s)

3 = 3 1 3 = 4.254 1 0.02 = 4.25 (rad/s)

Substituting the values: R2 ( ), 2 , 2 into

3 = 0 :

x 3 (t)=0.023 1-e

Eq. (9), and from initial condition:

0

T
x2 t =0 = 2 M 0 = 0
0

-0.085t

( cos4.25t+0.02sin4.25t ))

with

{1

T
T
2 3} = {0 1.06 4.25} (rad/s)

As the results, the motion equation can be

0

T
x&2 t =0 = 2 M 0 = 0
0

derived as:

From Eq. (6) and Eq. (7) with 2 = 0 ,

2 = 0 :

x 2 (t)=9.42 1-e

-0.02t

( cos1.06t+0.02sin1.06t ))

with 3 = 4.25 :

x1 (t) 0

-0.02t
( cos1.06t+0.02sin1.06t )
x 2 (t) = 9.42 1-e
x (t)
3 0.023 1-e-0.085t ( cos4.25t+0.02sin4.25t )

(12)

With the force of load is periodic, resistance force of the system is assumed to be f1 = A cos t
From Eq. (4) and (5), we have
R2 ( ) = 0.025 f1 = 0.025 A cos t
R3 ( ) = 0.001 f1 = 0.001 A cos t

Solution x2 (t)
Substituting R2 ( ), 2 , 2 into Eq. (9) and initial condition into Eq. (9) and Eq. (11), we have
x 2 (t ) = 22.24x10

A cos t (1 e

0.02t

(cos1.06t + 0.02 sin1.06t ))

Solution x3(t)
Substituting R3 ( ), 3 , 3 into Eq. (9) and initial condition into Eq. (9) and Eq. (11), we have
-5
-0.085t
x 3 (t)=5.534x10 Acost(1-e
(cos4.25t-0.02sin4.25t))

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TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

The motion equation under periodic load can be derived as folows:

x1 (t) 0

22.24x10-3 Acost*

(1-e-0.02t (cos1.06t+0.02sin1.06t))
x 2 (t) =

-5

5.534x10 Acost*

(1-e-0.085t (cos4.25t-0.02sin4.25t))
x 3 (t)

(13)

It is assumed that f = 423.6 cos 40t

1
Equation (13) becomes

x1 (t) 0

-0.02t
(cos1.06t+0.02sin1.06t))
x 2 (t) = 9.42cos40t(1-e
x (t) 0.023cos40t(1-e-0.085t (cos4.25t-0.02sin4.25t))

3
and

b. Lifting carrier in vertical direction under

load f2

defined

from

initial

condition.
when t = 0: x4 = 10 (m), x& = 1 (m/s).
4

The model of liffting carrier can be written

as

4 , 4 are

(14)

(15)

&
m2 L &
x&
4 + k c x4 + C3 x 4 = f2

Substituting the values into Eq. (16), Eq. (17),

Skipping resistance force and f2 = 0, we

have x 4 (t ) = 4 sin 4t + 4 cos 4t

(16)

x&4 (t ) = 44 cos 4t 44 sin 4t (17)

where 4 =

x i (t)=

1
i

kc

6594

m2 L

550

Oscillation system is of a harmonic motion

as

x 4 (t ) = 0.083sin11.989t + 10cos11.989t
= 11.989 (rad/s)

If resistance forces are considered, using

integral Duhamel to find the motion equation

R ()e
i

- i i (t-)

sin i (t-)d+

e
where

we have = 10 , = 0.083
4
4

- i i t

(19)

( i sin i t+ i cos i t )

2
2
i = i 1 i , i = 11.989 1 0.02 = 11.987 (rad/s)

i , i can be derived from the initial condition.

x 4 (t)=

R 4 ()
24 + 24 24

- 4 4 t

(cos 4 t+ 4 4 sin 4 t +
1-e

e - 4 4 t ( 4 sin 4 t+ 4 cos 4 t )

(20)

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Science & Technology Development, Vol 13, No.K4- 2010

R 4 ()e - 4 4 t 42 42
+ 4 sin 4 t 2
2 2
4 + 4 4 4

x&4 (t)=

(21)

e - 4 4 t ( ( 4 4 4 + 4 4 ) sin 4 t+ ( 4 4 4 - 4 4 ) cos 4 t )
when t = 0: x4 = 10 (m), x&4 = 1 (m/s).
Substituting above values into Eq. (20), we have 4 = 10 .

Substituting above values into Eq. (21), we have 1= 44 4 - 44

1 0.02 *11.989 1
4
4 = 4 4 4
=
= 63.4x10
4
11.987
Substituting 4 , 4 , 4 , 4 into Eq. (20), we have
x 4 (t)=

R 4 ()
1-e-0.24t (cos11.987t+0.02sin11.987t +
143.75

-0.24t

( -64.3x10

-4

sin11.987t+10cos11.987t

(22)

With the force of load is a costant, the resistance force is assumed to be f2 = Smax = 1736.76 N
Substituting R i () = f2 = 1736.76(N) into Eq. (22):

(
( -64.3x10

)
sin11.987t+10cos11.987t )

x 4 (t)=12.08 1-e-0.24t (cos11.987t+0.02sin11.987t +

e

-0.24t

-4

(23)

Or

The force of load is periodic, the resistance force of the system is assumed to be
f2 = 1736.76 cos 40t

Substituting R i () = f2 = 1736.76 cos 40t into Eq. (22)

x 4 (t)=

1736.76 cos 40t

1-e-0.24t (cos11.987t+0.02sin11.987t +
143.75
e

-0.24t

(
( -64.3x10

-4

)
sin11.987t+10cos11.987t )

Or x (t)=12.08cos40t 1-e-0.24t ( 0.172cos11.987t+0.02sin11.987t )

4
2.3 Simulation Results
a. The carrier travelling along rail under
load f1

Trang 32

(24)

From the motion equation, the system can

be simulated to describe the oscillation and
displacement of the robot on time and use Eq.
(10) to define displacement of point [10].

TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

The force of load is constant, the resistance

From Eq. (12), the system motion is as

force is assumed to be f1 = 423.6 (N)

follows:

x1 (t) 0

-0.02t
( cos1.06t+0.02sin1.06t )
x 2 (t) = 9.42 1-e
x (t)
-0.085t
3 0.023 1-e
( cos4.25t+0.02sin4.25t )

x1(t) = 0, the plot x2(t) and x3(t) is shown in Fig. 2.

Fig. 2. System oscillation under constant with = 1.06 (rad/s)

Fig. 3. System oscillation under constant load with = 4.25 (rad/s)

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Science & Technology Development, Vol 13, No.K4- 2010

The points displacement is defined by the principle of superposition.
From Eq. (8), we have
u 1 (t)

u
(t)
2

u
(t)
3

0 .2 4 1 -e -0 .0 2 t ( co s1 .0 6 t+ 0 .0 2 sin 1 .0 6 t ) +

0 .2 3 x 1 0 -4 1 -e -0 .0 8 5 t ( co s4 .2 5 t+ 0 .0 2 sin 4 .2 5 t )

-0 .2 9 1 -e -0 .0 2 t ( co s1 .0 6 t+ 0 .0 2 sin 1 .0 6 t )

-4
-0 .0 8 5 t
( co s4 .2 5 t+ 0 .0 2 sin 4 .2 5 t )
9 .4 3 x 1 0 1 -e

-0 .0 2 t
( co s1 .0 6 t+ 0 .0 2 sin 1 .0 6 t ) +
-0 .3 1 -e

-4
4 1 .6 3 x 1 0 1 -e -0 .0 8 5 t ( co s4 .2 5 t+ 0 .0 2 sin 4 .2 5 t )

The points displacements are given in Table 2.

Table 2. The displacement of points

Time

Displace

Displace

Displace

t (s)

-ment u1 (m)

-ment u2 (m)

-ment u3 (m)

0.02

x10
0.04

-5

0.08

-5

-2.602

-4

x10

-4

-4.5204
x10-5
-1.952
x10-4

4.6777

-5.956

-4.505

x10-4

x10-4

x10-4

8.3882

-0.0011

-8.112

x10
0.1

x10

2.0415
x10

0.06

-6.1618

4.8178

-4

x10-4

0.0013

-0.0017

-0.0013

Table 3. Point Displacement

Trang 34

Time

Displace

Displace

Displace

t (s)

-ment u1 (m)

-ment u2 (m)

-ment u3 (m)

0.02

3.3624 x10-5

-4.3007 x10-5

-3.2709 x10-5

0.04

-5.971 x10-6

7.6123 x10-6

5.9202 x10-6

0.06

-3.455 x10-4

4.3995 x10-4

3.4483 x10-4

0.08

-8.387 x10-4

0.0011

8.4055 x10-4

0.1

-8.622 x10-4

0.0011

8.6695 x10-4

(25)

TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

With the force of load is periodic, resistance force of the system is assumed to be

f1 = 423.6 cos 40t

From Eq. (18), we have

x1 (t) 0

-0.02t
(cos1.06t+0.02sin1.06t))
x 2 (t) = 9.42cos40t(1-e
x (t) 0.023cos40t(1-e-0.085t (cos4.25t-0.02sin4.25t))

3
The oscillation plot of x2(t) and x3(t) are described in Fig. 4 and Fig. 5.

Fig. 4. System oscillation under periodic load with = 1.06 (rad/s)

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Science & Technology Development, Vol 13, No.K4- 2010

Fig. 5. System oscillation under periodic load with = 4.25 (rad/s)

The points displacement is defined by principle of superposition.

From Eq. (8), we have

u 1 (t)
-0 .0 2 t
( co s1 .0 6 t+ 0 .0 2 sin 1 .0 6 t ) +

0 .2 4 co s4 0 t 1 -e

-4
-0 .0 8 5 t
( co s4 .2 5 t+ 0 .0 2 sin 4 .2 5 t )

0 .2 3 x 1 0 co s4 0 t 1 -e
u (t)
-0 .0 2 t
( co s1 .0 6 t+ 0 .0 2 sin 1 .0 6 t ) 2 -0 .2 9 co s4 0 t 1 -e
=

9 .7 4 x 1 0 -4 co s4 0 t 1 -e -0 .0 8 5 t ( co s4 .2 5 t+ 0 .0 2 sin 4 .2 5 t )

u 3 (t) -0 .3 1 co s4 0 t 1 -e -0 .0 2 t ( co s1 .0 6 t+ 0 .0 2 sin 1 .0 6 t ) +

4 2 .3 6 x 1 0 -4 co s4 0 t 1 -e -0 .0 8 5 t ( co s4 .2 5 t+ 0 .0 2 sin 4 .2 5 t )

(
(

(26)

The point displacement are given in Table 3.

b. Lifting the table in vertical direction under load f2

Resistance force is skipped and f2 = 0. From Eq. (18), the oscillation system is of harmonic motion:

x 4 (t ) = 0.083sin11.989t + 10 cos11.989t

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TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

Fig. 6. Harmonic motion of system with = 11.989 (rad/s)

Fig. 7. System oscillation under constant load with = 11.978 (rad/s)

With the force of load is costant, the

resistance force is assumed to be f2 = Smax =
1736.76 N.
From

Eq.

-0.24t

x 4 (t)=12.08 1-e

(23),

we

With the force of load is periodic,

resistance force of the system is assumed to be

f2 = 1736.76 cos 40t

have

( 0.172cos11.987t+0.02sin11.987t ) )

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Science & Technology Development, Vol 13, No.K4- 2010

From Eq. (24), we have x 4 (t)=12.08cos40t 1-e

-0.24t

( 0.172cos11.987t+0.02sin11.987t ))

Fig. 8. System oscillation under periodic load with = 11.987 (rad/s)

From the above plots, it can be realized

There are three computers are used to

that if we change the vibration frequency or

implement the control logic throughout the

load, the system oscillation and displacement

factory: host computer, client computer, and

will

vibration

station computer. The host computers function

frequency is depends on lifting body mass,

is managing the database of the system, the

lifting height, stiffness proportionalityHence,

client computers function is handling in/out

if we change initial condition design, we will

operations, and the station computers function

iditificate oscillation modes and kinematic

is

displacement of system.

AS/RSsystem.

be

change.

Alternatively,

monitoring

and
The

controlling
control

the
system

architechture is designed to meet the demand of

3. CONTROL SYSTEM DEVELOPMENT

Trang 38

a AS/RS is shown in Fig. 9.

TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

Client computer with
Shopfloor Management software

Host computer with

Warehouse Management Software

LAN Network

Station Computer n
with SCADA software

Station Computer
with SCADA software

...

AS/RS
Line 1

AS/RS
Line n

Fig. 9. System control architecture for AS/RS

Fig. 10. Warehouse Management software Interface

In other words, the control system is

composed of two control levels: management
control

and

machine

control.

The

communication between them is via LAN

network. As for management control, a server
host computer is installed with Warehouse
Management software which connect to the
warehouse database using Microsoft SQL
Server framework. The server host can perform
tasks, such as supplier management, customer
management, items management, warehouse

structure management. A barcode system is

used for the items identification in warehouse.
The interface of Warehouse Management
software is shown in Fig. 10.
As for the machine control, a PAC
5010KW with SCADA system is implemented
to control the motion of robot for in/out
operations as shown in Fig. 11, and the control
panel on AS/RS, Fig. 12. The design has
allocated for VIKYNO companys warehouse
as shown in Fig. 13.

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Science & Technology Development, Vol 13, No.K4- 2010

Fig. 11. SCADA Interface and PAC 5510KW

implemented on the AS/RS model

Fig. 13. The allocation warehouse of VIKYNO for

Fig. 12. Control panel of AS/RS model

4. CONCLUSION

AS/RS implementation.

calculate program was established to verify the

behavior of the system and the system

In this paper, mathematical model of the

AS/RS is established with several oscillation
modes and the kinematic displacement of the
system are found respectively. The generalized

Trang 40

identification process. Finally, the development

of this system have been done, but the
experimental data yet to finish at this time of
this writing. It is our works in the future.

TP CH PHT TRIN KH&CN, TP 13, S K4 - 2010

PHT TRIN H THNG LU KHO T NG
Chung Tn Lm(1), Nguyn Tng Long(2), Phan Hong Phng(2), L Hoi Quc(3)

(1) PTN Trng im Quc gia iu khin s & K thut h thng (DCSELAB), HQG-HCM
(2) Trng i hc Bch Khoa, HQG-HCM
(3) S Khoa hc Cng ngh Tp.HCM

TM TT: Bi bo ny trnh by m hnh ton hc ca h thng lu kho t ng (Automated

Storage/Retrieval System - AS/RS). Cc ch giao ng v chuyn v ca h thng c kho st da

trn m hnh c s trn. Vi m hnh ny, vic thit k h thng robot a vo ly ra s hiu qu hn
trc khi ch to. Ngoi ra, mt m hnh h thng kho hng t ng cng vi h thng iu khin y
c thit k v ci t thy c s hiu qu ca gii php a ra. Nghin cu ny l mt phn
d n nghin cu ch to th nghim ca S khoa hc Cng ngh p ng yu cu sn xut kho
hng t ng cho cng ty VIKYNO ni ring, v p ng nhu cu ca cc cng ty Vit nam ni chung.
T kha: AS/RS, Automated storage/retrieval system.

[5]. Sangdeok Park1 and Youngil Youm2,

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