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
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;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620227
