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Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators

[+] Author Affiliations
Mark Charlet, Élodie Marcellini, Clément Gosselin

Université Laval, Quebéc, QC, Canada

Paper No. DETC2018-85395, pp. V05BT07A014; 9 pages
doi:10.1115/DETC2018-85395
From:
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 42nd Mechanisms and Robotics Conference
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5181-4
  • Copyright © 2018 by ASME

abstract

This article introduces a trajectory planning approach for the catching of projectiles with a serial robotic manipulator. A description of the trajectory of the projectiles to be caught is first given. Then, a heuristic approach is introduced in order to determine the interception (catching) point. The planning of the robot trajectory that is required to reach the interception point with the proper velocity is then presented, based on polynomial interpolation. Finally, the trajectory of the robot used to decelerate and stop the projectile is planned. Examples of catching maneuvers are provided in order to illustrate the proposed trajectory planning technique.

Copyright © 2018 by ASME

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