Holistic Modeling of Trajectories for Cylinder-Shaped Objects

A new approach for the transportation of objects within production systems by throwing and capturing is investigated. For the purpose of throwing objects in direct hits into a capturing device, the trajectory has to meet it in a predefined position. Therefore, the corresponding trajectory has to be simulated and appropriately controlled by the required launch angle as well as launch velocity. This paper presents a holistic approach for the modeling of trajectories for cylinder-shaped objects. The calculation of the position and orientation of the cylinder for each point of time during the flight is enabled by this approach. Furthermore, an algorithm for the determination of the launch parameters in order to meet the capturing device in a predefined position as well as angular orientation is presented.