Time optimal manipulator control for sensor guided grasping of moving objects

Author

Kondak, Konstantin ; Binner, Stephan ; Hommel, Günter ; Neumann, Mathias

Author_Institution

Inst. fur Technische Informatik und Mikroelektron., Technische Univ. Berlin, Germany

Volume

4

fYear

2001

fDate

2001

Firstpage

1912

Abstract

This paper deals with the problem of sensor guided grasping of moving objects. The nonlinear time optimal controller for the manipulators is presented. The inputs for the controller are parameters of the objects movement variables - position, velocity and acceleration - which are usually determined online by a sensor system. The time optimal refers to the grasping conditions-equivalence of the position, orientation and velocity of TCP and the object will be satisfied in the shortest possible time subject to all movement constrains of the manipulator joints like the maximal possible angle, velocity and acceleration

Keywords

acceleration control; manipulator kinematics; motion control; nonlinear control systems; position control; time optimal control; velocity control; kinematic constraints; manipulators; movement constrains; moving object grasping; nonlinear control systems; position control; sensor guided grasping; time optimal control; trajectory control; Acceleration; Control systems; Grippers; Manipulator dynamics; Mobile robots; Object detection; Optimal control; Robot sensing systems; Sensor systems; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976353

Filename

976353