Operational Space Control Implemented in Robot Motion Planning for Multiple Moving Objects Interception Task
Juan Alejandro Flores-Campos, Emmanuel Dean‐Leon, Cándido Palacios Montufar · 2009
This paper presents a novel approach to on-line, robot-motion planning for multiple moving-objects interception with constant acceleration. The position, velocity and acceleration of the free particles TFL are used as a kinematic information to generate the multiple interception trajectory TFP. The polynomial interpolation technique is implemented in a 2 dof robot with an operational space control esquem with nonlinear PID + regresor to track the follower-trajectory TFP. The simulation consists of multiple 2D interception of two objects moving along a well-known parabolic trajectory via a 2dof robot interceptor.