Time optimal manipulator control for sensor guided grasping of moving objects

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