Optimized Control MethodsforCapturing Flying ObjectswithaCartesian Robot

Throwing orshooting isanewapproach forthe transportation ofobjects withinproduction systems. Since Gantry Robots areoften applied toloadandunload machines, in a research project a Cartesian Robotwasusedforcapturing flying objects. A camerasystemismeasuring theobject's positions during athrowinsubsequent periods oftime. Basedon thesemeasurements itcanpredict thecapturing point withan increasing accuracy. Soitcandirect therobot during athrowto thecapturing point alsowithanincreasing accuracy. Inthis papercontrol methodsareproposed whichallowinsuchan application fastandsmoothmotions oftherobottothefinal capturing point. Fortheevaluation ofthecontrol methods two scenarios, asimplified andarealistic one,aredefined. Keywords-Cartesian robot, flying objects, capturing, control method