Batting Flying Objects to a Target
نویسندگان
چکیده
This paper presents a planning algorithm for a 2DOF robotic arm to bat flying 2D objects to a targeted location. Impact dynamics are combined with trajectory kinematics and manipulator dynamics to compute the evolving set of states (poses and motions) of the arm able to achieve the task as the object is flying. Planning is conducted under the arm’s dynamic and kinematic constraints. At the time of hit, the robot executes an action to minimize its total energy. Simulation has been conducted based on the parameter values of a Whole Arm Manipulator (WAM) from Barrett Technology, Inc., with which experiment is undergoing.
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تاریخ انتشار 2016