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Robotic interception of moving objects using an augmented ideal proportional navigation guidance technique

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4 Author(s)
Mehrandezh, M. ; Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada ; Sela, N.M. ; Fenton, R.G. ; Benhabib, B.

Presents an approach to online, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-guidance-based technique, that is robust and computationally efficient for the interception of fast-maneuvering objects. Navigation-based techniques were originally developed for the control of missiles tracking free-flying targets. Unlike a missile, however, the end-effector of a robotic arm is connected to the ground, via a number of links and joints, subject to kinematic and dynamic constraints. Also, unlike a missile, the velocity of the robot and the moving object must be matched for a smooth grasp, thus, a hybrid interception scheme, which combines a navigation-based interception technique with a conventional trajectory tracking method is proposed herein for intercepting fast-maneuvering objects. The implementation of the proposed technique is illustrated via numerous simulation examples

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:30 ,  Issue: 3 )