In this work a methodology to intercept multiple free falling objects is presented. The principal contribution of this article is generated the tracking trajectory for a 3 DOF robot to intercept and capture two moving objects. The kinematic information of the objects is obtained with a position-velocity sensor. The performance of this approach is validated with simulations and with experimental results using a 3 DOF robot (2D position and orientation). The robot is controlled using PID with velocity and acceleration feed forward, including a term of velocity feedback. The experimental results show the high performance of the approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robot Interceptor an Experimental 2D Approach


    Beteiligte:


    Erscheinungsdatum :

    2007-09-01


    Format / Umfang :

    804495 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Ford Interceptor

    Stevens,D. / Ford Motor,US | Kraftfahrwesen | 2007


    Interceptor vehicles

    Johnson, A.F. | Engineering Index Backfile | 1960


    Jensen Interceptor

    Taylor, Mike | TIBKAT | 1988


    UNMANNED INTERCEPTOR

    SIDOROV NIKOLAJ MIKHAJLOVICH / BORISOV EVGENIJ GENNADEVICH / MOROZOVA ELENA VLADIMIROVNA et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Ford Interceptor

    Mackenzie,A. / Ford Motor,US | Kraftfahrwesen | 2007