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- W2319312680 abstract "In this paper, a real-time trajectory planning method which is effective for a robot to track a moving object is derived. This method generates the optimal trajectory based on the minimum acceleration criterion whose position and velocity are coincident with those of a moving object at predefined time. Therefore, this method is effective for reliable capture of a moving object. First, the optimal trajectory for a moving object with constant velocity is derived. The problem is formulated as an inhomogeneous regulator problem, and the optimal trajectory to minimize a cost function is solved analytically. Next, the way to generate the trajectory when the maximum speed or acceleration is limited is discussed. Optimal trajectory planning for a moving object with acceleration or rotation is developed also. Finally, results of experiments to capture moving objects are presented. The experimental system consists of a 3-DOF manipulator, a dummy object, a CCD hand-eye camera and a vision processing system. The manipulator and dummy object are floating on a plate base using air bearings. The vision system can detect the position/direction of the dummy object every 17 [msec] ." @default.
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- W2319312680 date "1994-01-01" @default.
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- W2319312680 title "Real-Time Robot Trajectory Planning for Track of Moving Object." @default.
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- W2319312680 doi "https://doi.org/10.7210/jrsj.12.879" @default.
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