DocumentCode
2134433
Title
A dynamic analysis for robotic interception of a moving target
Author
Kövecses, J. ; Fenton, R.G. ; Cleghorn, W.L.
Author_Institution
Dept. of Mech. & Ind. Eng., Toronto Univ., Ont., Canada
fYear
1997
fDate
7-9 Jul 1997
Firstpage
493
Lastpage
498
Abstract
In this paper, we develop a formulation pertaining to the phenomena involved in robotic interception of a moving rigid body, when structural flexibility is taken into consideration. Generalized impulse-momentum equations describing the dynamics of interception are developed, using the impulsive form of Jourdain´s principle. To evaluate the performance of the interception, a geometric interpretation is proposed; and the first and second dynamic interception ellipsoids and related measures are introduced
Keywords
computational geometry; flexible structures; manipulator dynamics; matrix algebra; momentum; Jourdain principle; dynamic analysis; ellipsoids; geometric interpretation; impulse-momentum; interception ellipsoids; manipulator dynamics; moving rigid body; moving target; robotic interception; structural flexibility; Educational institutions; Electronic mail; Ellipsoids; End effectors; Equations; Industrial engineering; Intelligent robots; Manipulator dynamics; Robot kinematics; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-4160-0
Type
conf
DOI
10.1109/ICAR.1997.620227
Filename
620227
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