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.


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    Title :

    Robot Interceptor an Experimental 2D Approach


    Contributors:


    Publication date :

    2007-09-01


    Size :

    804495 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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