Path planning for robotic hand/eye system to intercept moving object

摘要

Presents a of path planning method for a robotic hand/eye coordination system to approach and grasp a moving object. This method, which is called the variant proportional guidance (VPG) method, stems from the proportional guidance (PG) law for missile interception. It is advantageous over traditional tracking path planning methods in that it can tolerate larger errors from object positioning and is more capable of dealing with maneuvering motions of the object. In addition, the method enables the grasping pose of the robot gripper to be adjusted automatically along with the approaching process. Consequently, grasping may occur in an outflanking way. Thus, the possibility for the object to be grasped can be greatly improved. Simulations and experiments are provided to show the performance of the proposed method.