Generalization of the Interception of Multiple Moving Objects

This paper presents a novel methodology based on polynomial-interpolation technique to generate the trajectory in order to intercept two or more moving objects. This methodology is efficient for the slowmaneuvering objects with constant acceleration in industrial settings, like objects moving on a circular or linear conveyor. The position, velocity and acceleration as a function of time of the free-particles are used as input to the methodology. With this kinematic information is possible to generate the multiple interception trajectory. The multiple interception trajectory allows to the end-effector of a robotic arm to be oriented along each of the free particle´s-trajectory to avoid impact due to the direction of their velocities. The implementation of the proposing methodology is ilustrated through a simulation examples, which consist of the interception of two objects moving along a well-known trajectory via two degrees of freedom robot arm. The endeffector tracking the desired follower-trajectory to intercept two moving objects in the task space.