Minimum-Time Algorithm For Intercepting An Object On The Conveyor Belt By Robot
Ik-Sang Shin, Sang‐Hyun Nam, Rodney G. Roberts, Seungbin B. Moon · 2007
This paper provides a minimum time algorithm to intercept an object on the conveyor belt by robotic manipulator. The goal is that the robot is able to intercept objects on a conveyor line moving at a given speed in minimum time. In order to formulate the problem, we introduce the robot and object arrival time functions, and conclude that the optimal point occurs at the intersection of these two functions. The search algorithm for finding the intersection point between the robot and object arrival time functions are also presented to find the optimal point in real-time.