Finding a better time estimation of a trajectory

The construction of a control is usually based on completeinformation on the coordinates of an object. In the absence ofthis information, the control can be constructed by solving twoconsecutive sub problems, namely, detecting a desired object andcapturing the target object with complete information on itscoordinates. In this paper we suppose that start-point for motionsis variable and using the diagrams constructed in the plane ofgeometric objects of the operation zone of the manipulator, theproblem of selecting a control under which a guaranteed searchwith a subsequent capture of a target object is carried out in aminimum time is solved.

کلیدواژه ها:

Manipulator robot ، projection ، Time optimal problem