The paper presents the results in controlling the robot manipulator handling the moving object of various types. Two series of experiments were carried out using the rod swinging on the bifilar suspension, and the tennis balls swinging as spherical pendulums. The main part of the experiments with the rod was devoted to finding efficient ways for its fast and reliable capturing. The experiments with the ball were focused on modifying the motion of the ball in such a way for its orbit has the desirable parameters. In particular, the ball was directed to reach the motionless target placed inside the working space, or perform a rendezvous with another ball having an independent free motion. The TV camera supplied the computer with the visual data of the scene. The dynamical models of the motion of the objects were used for statistical processing the visual data and determining the parameters of the motion. These parameters were used for controlling the robot.

The paper contents description of the experiments on capturing the moving object by means of a robot manipulator RM-01 (like PUMA 560) with vision system. The object to be grasped is the rod on a bifilar suspension. The upper ends of the fibers are attached to the stable beam which holds a TV camera connected to a computer. Data processing results in the coordinates of the end points of the rod. The algorithm developed gives the possibility to obtain up to 25 pairs of end points per second. The data are subjected to statistical analysis taking into account the dynamic model of the rod motion. The results obtained for the 0.5 s interval allow us to calculate the initial conditions of the rod motion and to predict the motion to several seconds ahead. Analysis of the predicted motion allows us to determine the proper moment of capture, and the position of the manipulator grip at that moment. The capture is implemented in 2-5 s after the start of the process, within 1-2 periods of longitudinal and lateral modes of the rod oscillation.

The authors discuss experience gained in developing robotic complexes for the assembly of some components in the machine building industry. Design of assembly cells is discussed. The importance of introducing check operations into the assembly process is pointed out. One rather simple and efficient checking method is described. The module-method of designing the control software is briefly outlined. The assembly process for a vacuum cleaner turbine using a Puma-type robot is presented.>