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.
Robot Interceptor an Experimental 2D Approach
2007-09-01
804495 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Kraftfahrwesen | 2007
|Engineering Index Backfile | 1960
|TIBKAT | 1988
|Kraftfahrwesen | 2007
|