Method and control device for synchronising a collector of a handling device

摘要

The method involves carrying an object (3) to be picked by a conveyor device (2). A pickup (11) of a multi-axis handling device (1) is synchronized with the moving conveyor device for displacing the object, where the pickup is synchronized along computationally-determined polynomial path (P-p) of third order between a starting point (SP) and a destination point (ZP). The polynomial path of third order is defined by the starting point, the destination point and tangential vectors in the starting point and the destination point. Independent claims are also included for the following: (1) a data storage medium comprising a path synchronization programming module for executing a pickup synchronizing method (2) a control device for controlling a pickup of a multi-axis handling device.