Title :
Operational Space Control Implemented in Robot Motion Planning for Multiple Moving Objects Interception Task
Author :
Campos, J. A Flores ; León, E. C Dean ; Montufar, C. Palacios
Author_Institution :
Inst. Politec. Nac., Acad. de Mecatronica, Mexico City, Mexico
Abstract :
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.
Keywords :
interpolation; nonlinear control systems; path planning; position control; robot kinematics; three-term control; constant acceleration; interception task; kinematic information; multiple interception trajectory; multiple moving object; nonlinear PID control; operational space control; polynomial interpolation technique; robot motion planning; Acceleration; Interpolation; Kinematics; Motion control; Motion planning; Orbital robotics; Polynomials; Robot control; Robot motion; Three-term control; Robot interceptor; planning; trajectories;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.
Conference_Location :
Cuernavaca, Morelos
Print_ISBN :
978-0-7695-3799-3
DOI :
10.1109/CERMA.2009.64
