Robot Trajectory Planning for Multiple 2D Moving Objects Interception: a Functional Approach

摘要

This paper presents a novel approach to online, robot-motion planning for multiple 2D moving-objects interception. The proposed approach utilizes the time parametric function of one or more moving objects to generate the multiple interception trajectory. This methodology is efficient for the slow-maneuvering objects with constant acceleration in industrial settings, like objects moving on a conveyor. The multiple interception trajectory allows the end-effector of a robotic arm is oriented to the objects trajectory to avoid impact. The implementation of the proposed technique is illustrated via a simulation example. It consists for the multiple interceptions of two balls moving along well-known parabolic trajectories via an autonomous robot