**Okhotsimsky et
al. 1997 : **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.