A Time-Optimal Intersection Search Algorithm for Robot Grasping

Algorithm 2

The improved time optimal search algorithm.

	In step 1, set k = 1, and an appropriate is selected. The arrival time t1, is obtained according to inverse kinematics, and is calculated via the equation .
	In step 2, if , stop the algorithm and the intersection point does not exist; if , go to step 3.
	In step 3, calculate and calculate the intersection point between the robot’s approximate position-time curve , and the target object’s position-time curve .
	In step 4, , set  =  and stop the algorithm. If , go to step 5.
	In step 5, set , and calculate the position of the target object at the same time; go to step 3.