This paper presents a novel approach to on-line, robot-motion planning for multiple moving-objects interception with constant acceleration. The position, velocity and acceleration of the free particles TFL are used as a kinematic information to generate the multiple interception trajectory TFP. The polynomial interpolation technique is implemented in a 2 dof robot with an operational space control esquem with nonlinear PID + regresor to track the follower-trajectory TFP. The simulation consists of multiple 2D interception of two objects moving along a well-known parabolic trajectory via a 2dof robot interceptor.


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    Titel :

    Operational Space Control Implemented in Robot Motion Planning for Multiple Moving Objects Interception Task




    Erscheinungsdatum :

    2009-09-01


    Format / Umfang :

    398891 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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