TY - GEN
T1 - Operational space control implemented in robot motion planning for multiple moving objects interception task
AU - Flores Campos, J. A.
AU - Dean León, E. C.
AU - Palacios Montufar, C.
PY - 2009
Y1 - 2009
N2 - 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 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.
AB - 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 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.
UR - http://www.scopus.com/inward/record.url?scp=74549226562&partnerID=8YFLogxK
U2 - 10.1109/CERMA.2009.64
DO - 10.1109/CERMA.2009.64
M3 - Contribución a la conferencia
AN - SCOPUS:74549226562
SN - 9780769537993
T3 - CERMA 2009 - Electronics Robotics and Automotive Mechanics Conference
SP - 238
EP - 243
BT - CERMA 2009 - Electronics Robotics and Automotive Mechanics Conference
T2 - CERMA 2009 - Electronics Robotics and Automotive Mechanics Conference
Y2 - 22 September 2009 through 25 September 2009
ER -