{"title":"机器人在输送带上拦截物体的最小时间算法","authors":"Iksang Shin, Sang-Hyun Nam, R. Roberts, S. Moon","doi":"10.1109/CIRA.2007.382906","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"439 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Minimum-Time Algorithm For Intercepting An Object On The Conveyor Belt By Robot\",\"authors\":\"Iksang Shin, Sang-Hyun Nam, R. Roberts, S. Moon\",\"doi\":\"10.1109/CIRA.2007.382906\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":301626,\"journal\":{\"name\":\"2007 International Symposium on Computational Intelligence in Robotics and Automation\",\"volume\":\"439 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-06-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 International Symposium on Computational Intelligence in Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CIRA.2007.382906\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 International Symposium on Computational Intelligence in Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CIRA.2007.382906","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Minimum-Time Algorithm For Intercepting An Object On The Conveyor Belt By Robot
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.