A dynamic analysis for robotic interception of a moving target

摘要

In this paper, we develop a formulation pertaining to the phenomena involved in robotic interception of a moving rigid body, when structural flexibility is taken into consideration. Generalized impulse-momentum equations describing the dynamics of interception are developed, using the impulsive form of Jourdain's principle. To evaluate the performance of the interception, a geometric interpretation is proposed; and the first and second dynamic interception ellipsoids and related measures are introduced.