NDLI: Accurate prediction of interception positions for catching thrown objects in production systems

Content Provider	IEEE Xplore Digital Library
Author	Barteit, D. Frank, H. Kupzog, F.
Copyright Year	2008
Description	Author affiliation: Dept. of Electr. Eng., Reinhold Wiirth Univ., Kunzelsau (Barteit, D.; Frank, H.)
Abstract	This work aims to optimize transportation processes in production by throwing objects between the working stations instead of transporting them on conveyed belts. One aspect of this new approach is the accurate prediction of interception positions of thrown objects with the catching robot. In a first step, this work analyzes the variation of the flight trajectories to specify the requirements for an appropriate catching-device. Several objects were thrown by a throwing-device and the range of their passages through a gate similar to the portal of the proposed gantry robot for object catching were measured. The second and main part of this work deals with calculating the objectpsilas position in flight and accurately predicting a point of interception with the catching robot. The proposed prediction model for interception positions bases on two inputs: the starting angles extracted from observations of a single camera and the speed of the object measured by two light barriers. The model is precise enough in respect to the size of the gripper of the catching robot.
Starting Page	893
Ending Page	898
File Size	301625
Page Count	6
File Format	PDF
ISBN	9781424421701
ISSN	19354576
DOI	10.1109/INDIN.2008.4618228
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-13
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article

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