Dynamic optimization of grasping mobile objects by robot manipulators

摘要

The study deals with a grasping in motion of objects by robot manipulators. This method allows dyanmic optimization of the grasp operation, i.e. the place and the time, during the manipulator transfer. The purpose of this study is to determine the conditions of an optimal grasp between the manipulator configuration and the object position. This resulting transfer problem with its final state characterized by local constraitns is solved by applying Pontryagin's Maximum Principle, which yields new optimality conditions. An example of grasping an object placed on a moving belt is illustrated in this study to show the practice of our theory.