Patent ID: 8386069

Claim:
A method for synchronizing a pickup of a multi-axis handling device, comprising: providing a pickup of a multi-axis handling device and a conveyor device; synchronizing the pickup along a computationally-determined polynomial path of at least a 3rd order between a starting point and a destination point, wherein the polynomial path is a polynomial path of the 5th order; moving the conveyor device; picking up an object and carrying along the object by the conveyor device and/or putting the object down onto the conveyor device, defining the polynomial path via the starting point, the destination point, via a respective tangent vector in the starting and destination point and via a respective curvature vector in the starting and destination point; allocating a direction pointing to the destination point to the starting point tangent vector during the synchronization of the pickup from a standstill; and allocating a null vector to the starting point curvature vector.