A minimum‐time algorithm for intercepting an object on a conveyor belt

Abstract

Purpose

The purpose of this paper is to provide a minimum time algorithm to intercept an object on a conveyor belt by a robotic manipulator. The goal is that the robot is able to intercept objects on a conveyor line moving at a given speed in minimum time.

Design/methodology/approach

In order to formulate the problem, the robot and object‐arrival time functions were introduced, and conclude that the optimal point occurs at the intersection of these two functions. The search algorithm for finding the intersection point between the robot and object arrival time functions are also presented to find the optimal point in real‐time.

Findings

Simulation results show that the presented algorithm is well established for various initial robot positions.

Practical implications

A trapezoidal velocity profile was employed which is used in many industrial robots currently in use. Thus, it is believed that robot travel time algorithm is readily implemented for any commercially available robots.

Originality/value

The paper considers exhaustive cases where robot travel time functions are dependent upon initial positions of robotic end‐effectors. Also presented is a fast converging search algorithm so that real time application is more feasible in many cases.

Citation

Sang Shin, I., Nam, S., Roberts, R. and Moon, S. (2009), "A minimum‐time algorithm for intercepting an object on a conveyor belt", Industrial Robot, Vol. 36 No. 2, pp. 127-137. https://doi.org/10.1108/01439910910932586