Batting a Flying Object to Target
نویسندگان
چکیده
This paper presents an impact planning strategy to bat 2D objects to a target with or without contact friction. In the frictionless case, a closed-form solution is analyzed, simulated, and validated via the task of a WAM Arm batting a hexagonal object. Contact friction introduces a continuum of solutions, from which we select the one that expends the minimum kinetic energy of the manipulator. Simulation on polygonal parts yields realistic results.
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