Minimum time Algorithm for intercepting a Moving Object on Conveyor System

컨베이어 상의 이동 물체 획득을 위한 로봇의 최소시간 알고리즘

This paper focuses on planning strategies for object interception, especially with minimum time. Herein, the goal is for robot to intercept object with minimum time on a conveyor line that flows to x-axis with respect to world coordinate system. In order to do it, conveyor system needs the algorithms for minimizing time. This objective is achieved by solving about two problems: selection of a minimum-time interception point and planning of an optimal robot trajectory. Herein, the first problem is formulated a minimization of the robot-object interception time.