Robot Arm Trajectory Planning Using Missile Guidance Algorithm
نویسندگان
چکیده
This paper presents a novel approach to on-line trajectory planning of robot arms for the interception of a fastmaneuvering object under torque and velocity constraints. Especially, the trajectory planning in the Y direction employs a missile guidance algorithm to intercept the maneuvering object. The proposed method yields that a robot arm can smoothly grasp a maneuvering object. Simulation results are included to demonstrate the proposed method.
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