Robot arm trajectory planning using missile guidance algorithm

Abstract

This paper presents a novel approach to online trajectory planning of robot arms for the interception of a fast-maneuvering 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.