| 摘要 |
In a method for approaching a moving article over an approach path, an approach position of the article is situated within an approach region, control data sets are calculated in advance in a first calculation step, the control data sets contain a movement set that includes path segments, which describe the approach path for an approach position, the first calculation step for the movement set is based on a first determined approach position of the article, the movement set for the first determined position of the article is optimized with regard to the approach speed, the current approach position of the article is determined immediately before the start of the movement, a second calculation step is carried out in which the respective path segment to be currently executed is changed as a function of the determined current approach position of the article so that the approach path is shifted in the direction of the current approach position, and an approach movement is carried out by executing the path segment determined in the second calculation step.
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