IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/5349426.html
   My bibliography  Save this article

A Time-Optimal Intersection Search Algorithm for Robot Grasping

Author

Listed:
  • Jun Wang
  • Kai Zhang
  • Mingquan Yang
  • Xuwei Zhang
  • Fei Liang
  • Zhi-Wei Liu

Abstract

In industrial automation, an important task of robot system is to grasp moving objects. In order to grasp the moving target on the conveyor belt in the shortest time, this paper proposes a method of location prediction and interception grasping of the target object, and puts forward the corresponding time-optimal grasping point search algorithm. In order to reduce the motion impact of the manipulator and meet the kinematic constraints, the velocity planning curve of the normalized quintic polynomial was adopted to plan the motion of the manipulator in the joint space. In order to express the algorithm more clearly, the position-time function of the moving object and the position-time virtual function of the robot are introduced, and the time optimal grasping point appears at the intersection of the two functions. Finally, the method is verified by simulation analysis.

Suggested Citation

  • Jun Wang & Kai Zhang & Mingquan Yang & Xuwei Zhang & Fei Liang & Zhi-Wei Liu, 2022. "A Time-Optimal Intersection Search Algorithm for Robot Grasping," Mathematical Problems in Engineering, Hindawi, vol. 2022, pages 1-11, December.
    • Handle: RePEc:hin:jnlmpe:5349426
    DOI: 10.1155/2022/5349426
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/mpe/2022/5349426.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/mpe/2022/5349426.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2022/5349426?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:5349426. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.