A Time-Optimal Intersection Search Algorithm for Robot Grasping

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.