Finding a Better Time Estimation of a Trajectory

The construction of a control is usually based on complete information on the coordinates of an object. In the absence of this information, the control can be constructed by solving two consecutive sub problems, namely, detecting a desired object and capturing the target object with complete information on its coordinates. In this paper we suppose that start-point for motions is variable and using the diagrams constructed in the plane of geometric objects of the operation zone of the manipulator, the problem of selecting a control under which a guaranteed search with a subsequent capture of a target object is carried out in a minimum time is solved.