A dynamic analysis for robotic interception of a moving target

被引：0
|
作者：
Kovecses, J
Fenton, RG
Cleghorn, WL
机构：
来源：
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97 | 1997年
关键词：
manipulator dynamics; robotic interception; structural flexibility; ellipsoids;
D O I：
10.1109/ICAR.1997.620227
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：493 / 498
页数：6
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