Robotic interception of moving objects using an augmented ideal proportional navigation guidance technique

摘要: Presents an approach to online, robot-motion planning for moving-object interception. The proposed utilizes a navigation-guidance-based technique, that is robust and computationally efficient the interception of fast-maneuvering objects. Navigation-based techniques were originally developed control missiles tracking free-flying targets. Unlike missile, however, end-effector robotic arm connected ground, via number links joints, subject kinematic dynamic constraints. Also, unlike velocity robot moving object must be matched smooth grasp, thus, hybrid scheme, which combines navigation-based technique with conventional trajectory method herein intercepting implementation illustrated numerous simulation examples.