This paper presents a novel methodology based on polynomial-interpolation technique to generate the trajectory in order to intercept two or more moving objects. This methodology is efficient for the slowmaneuvering objects with constant acceleration in industrial settings, like objects moving on a circular or linear conveyor. The position, velocity and acceleration as a function of time of the free-particles are used as input to the methodology. With this kinematic information is possible to generate the multiple interception trajectory. The multiple interception trajectory allows to the end-effector of a robotic arm to be oriented along each of the free particle's-trajectory to avoid impact due to the direction of their velocities. The implementation of the proposing methodology is ilustrated through a simulation examples, which consist of the interception of two objects moving along a well-known trajectory via two degrees of freedom robot arm. The endeffector tracking the desired follower-trajectory to intercept two moving objects in the task space.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Generalization of the Interception of Multiple Moving Objects


    Beteiligte:


    Erscheinungsdatum :

    2011-11-01


    Format / Umfang :

    337421 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Robot Trajectory Planning for Multiple 2D Moving Objects Interception: a Functional Approach

    Flores Campos, Juan / Romo, Suemi / Orozco, Oscar et al. | IEEE | 2006


    Robot Trajectory Planning for Multiple 3D Moving Objects Interception: A Polynomial Interpolation Approach

    Campos, Juan Alejandro Flores / Flores, José Alfredo Rosas / Montufar, Cándido Palacios | IEEE | 2008


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

    Campos, Juan Alejandro Flores / Leon, Emmanuel Carlos Dean / Montufar, Candido Palacios | IEEE | 2009


    How moving backgrounds influence interception

    Brenner, E. / Smeets, J.B.J. | BASE | 2015

    Freier Zugriff

    MULTIPLE TARGET INTERCEPTION

    SHVALB NIR / HACOHEN SHLOMI / SHOVAL SHRAGA | Europäisches Patentamt | 2024

    Freier Zugriff