DocumentCode :
1340394
Title :
Robotic interception of moving objects using an augmented ideal proportional navigation guidance technique
Author :
Mehrandezh, Mehran ; Sela, Naftali M. ; Fenton, Robert G. ; Benhabib, Beno
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Volume :
30
Issue :
3
fYear :
2000
fDate :
5/1/2000 12:00:00 AM
Firstpage :
238
Lastpage :
250
Abstract :
Presents an approach to online, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-guidance-based technique, that is robust and computationally efficient for the interception of fast-maneuvering objects. Navigation-based techniques were originally developed for the control of missiles tracking free-flying targets. Unlike a missile, however, the end-effector of a robotic arm is connected to the ground, via a number of links and joints, subject to kinematic and dynamic constraints. Also, unlike a missile, the velocity of the robot and the moving object must be matched for a smooth grasp, thus, a hybrid interception scheme, which combines a navigation-based interception technique with a conventional trajectory tracking method is proposed herein for intercepting fast-maneuvering objects. The implementation of the proposed technique is illustrated via numerous simulation examples
Keywords :
manipulator dynamics; navigation; path planning; augmented ideal proportional navigation guidance technique; end-effector; fast-maneuvering objects; hybrid interception scheme; moving-object interception; navigation-guidance-based technique; robotic interception; smooth grasp; trajectory tracking method; Aircraft navigation; Industrial engineering; Kinematics; Manipulators; Missiles; Motion planning; Robot motion; Robustness; Target tracking; Trajectory;
fLanguage :
English
Journal_Title :
Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4427
Type :
jour
DOI :
10.1109/3468.844351
Filename :
844351
Link To Document :
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