Determination of launching parameters for throwing objects in logistic processes with direct hits

Bimanual Dynamic Grabbing and Tossing of Objects Onto a Moving Target

“…Robotic throwing has been demonstrated in the literature using different types of robotic systems that can be classified into three main categories: throwing with specialized devices such as 1-DoF or 2-DoF (degrees of freedom) launching mechanisms [5,30,[32][33][34][35][36][37], throwing by industrial robots [3,[38][39][40][41] and throwing by humanoid robots [42,43]. In the case of industrial robots, [38] used the KUKA KR-16 robot to demonstrate accurate throwing of a tennis ball to a target located approximately 2.5 m away.…”

“…For instance, the authors of [38] used a simple ballistic motion to determine the throwing parameters, neglecting aerodynamic forces. Example of approaches that considered additionally the Newton drag forces can be found in [33]. In a batting application of freeflying objects, which can be seen as a simultaneous catching and throwing task, Jia et al [21] considered the Magnus effect [49] and proposed a closed-form expression approximating the solution of the resulting nonlinear dynamics.…”

Throwing of cylinder-shaped objects

“…The solutions for this equation are described in detail in [11] and [12]. With this mathematical model the y-coordinates were calculated for the measuring series shown in Table I.…”

Measuring the intersection of a thrown object with a vertical plane

“…At least the object has to pass through the limited operating range of the catching robot. In this transportation approach, throwing robots are constructed to achieve high targeted precision [7]. Less performance is required on the side of the catching part with increasing accuracy of the throwing robot.…”