NDLI: Optimized Control Methods for Capturing Flying Objects with a Cartesian Robot

Content Provider	IEEE Xplore Digital Library
Author	Frank, H. Barteit, D. Meyer, M. Mittnacht, A. Novak, G. Mahlknecht, S.
Copyright Year	2008
Description	Author affiliation: Inst. of Comput. Technol., Vienna Univ. of Technol., Vienna (Novak, G.; Mahlknecht, S.) \|\| Reinhold-Wurth-Univ., Kunzelsau (Frank, H.; Barteit, D.; Meyer, M.; Mittnacht, A.)
Abstract	Throwing or shooting is a new approach for the transportation of objects within production systems. Since gantry robots are often applied to load and unload machines, in a research project a Cartesian robot was used for capturing flying objects. A camera system is measuring the object's positions during a throw in subsequent periods of time. Based on these measurements it can predict the capturing point with an increasing accuracy. So it can direct the robot during a throw to the capturing point also with an increasing accuracy. In this paper control methods are proposed which allow in such an application fast and smooth motions of the robot to the final capturing point. For the evaluation of the control methods two scenarios, a simplified and a realistic one, are defined.
Starting Page	160
Ending Page	165
File Size	7669324
Page Count	6
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4681368
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization methods Production systems Optimized production technology Robot vision systems Cameras Robot control Acceleration Control systems Road transportation Position measurement control method Cartesian robot flying objects capturing
Content Type	Text
Resource Type	Article

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