Control of the search for an immobile object aimed at its capture

摘要

Two similar methods for controlling a manipulator robot with the aim to search and capture an immobile target object placed on the two-dimensional bottom of the three-dimensional operation zone of the manipulator are considered. In contrast to [1, 2], where a search is carried out with fixed diameter of a circle of detection, in this work, the stage of the controlled search for a target object is carried out with varying diameters of the circle of detection; i.e., at this stage, the manipulator gripper approaches the target object simultaneously. Using diagrams constructed in the plane of the geometric parameters of the operation zone of the manipulator, the problem of selecting a control (from two constructed ones), under which a guaranteed search with a subsequent capture of the target object is carried out in a minimum time, is solved. By numerical computations, it is found that the obtained control makes it possible to decrease significantly the guaranteed time of steering the gripper of the manipulator to an immobile object compared with the corresponding characteristics under the controls constructed in [1, 2].