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- W2067301466 abstract "Abstract This paper presents a novel approach to on-line, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-based technique, which 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 discussed via numerous simulation examples." @default.
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- W2067301466 date "1999-09-01" @default.
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- W2067301466 title "Robotic interception of moving objects using ideal proportional navigation guidance technique" @default.
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- W2067301466 doi "https://doi.org/10.1016/s0921-8890(99)00044-5" @default.
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