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Abstract-In modern industrial production fast and easily reconfigurable transportation systems are necessary. A viable bioinspired approach to this is throwing and catching of transportation goods. In order to catch a thrown object the catching device has to be moved to the right position on time. This requires a fast and accurate acquisition of flight position and a prediction system for the interception point. The main topic of this paper is the development and comparison of two prediction models for the flight trajectory of a thrown tennis ball. The position acquisition, that is the base for the prediction, is based on a binocular vision system similar to two-eyed humans. The impact of the vision systems frame rate on the error of the prediction is reviewed as well. Future prediction is planned to be done based on a bio-inspired approach using a small set of reference throws.

Throwing or shooting is a new approach for the transportation of objects within production systems. Since Gantry Robots are often applied to load and unload machines, in a research project a Cartesian Robot was used for capturing flying objects. A camera system is measuring the object's positions during a throw in subsequent periods of time. Based on these measurements it can predict the capturing point with an increasing accuracy. So it can direct the robot during a throw to the capturing point also with an increasing accuracy. In this paper control methods are proposed which allow in such an application fast and smooth motions of the robot to the final capturing point. For the evaluation of the control methods two scenarios, a simplified and a realistic one, are defined.

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