Robot arm trajectory planning using missile guidance algorithm

被引：0

作者：

Chwa, DK ^{[1
]}

Kang, J ^{[1
]}

Im, KH ^{[1
]}

Choi, JY ^{[1
]}

机构：

[1] Seoul Natl Univ, ASRI, Sch Elect Engn, Seoul, South Korea

来源：

SICE 2003 ANNUAL CONFERENCE, VOLS 1-3 | 2003年

关键词：

on-line trajectory planning; torque and velocity constraints; guidance algorithm;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel approach to on-line trajectory planning of robot arms for the interception of a fast-maneuvering object under torque and velocity constraints. Especially, the trajectory planning in the Y - direction employs a missile guidance algorithm to intercept the maneuvering object. The proposed method yields that a robot arm can smoothly grasp a maneuvering object. Simulation results are included to demonstrate the proposed method.

引用

页码：2056 / 2060

页数：5

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