A Time-Optimal Intersection Search Algorithm for Robot Grasping

Table 2

Operation result of the pyramid-shaped search algorithm.

Target initial position	δ (ms)	Operation time (ms)	Robot arrival time (ms)	Target arrival time (ms)	Error (ms)
200	5	504	761.3	763.3	2.0
	10	440	760.7	765.9	5.2
	50	180	789.8	755.3	34.5
500	5	422	526.6	631.3	4.7
	10	422	526.6	531.3	4.7
	50	307	523.9	549.6	25.7
800	5	306	371.2	373.9	2.7
	10	251	370.9	376.9	6
	50	143	369.0	398.1	29.1