Robot Interceptor an Experimental 2D Approach

摘要

In this work a methodology to intercept multiple free falling objects is presented. The principal contribution of this article is generated the tracking trajectory for a 3DOF robot to intercept and capture two moving objects. The kinematic information of the objects is obtained with a position-velocity sensor. The performance of this approach is validated with simulations and with experimental results using a 3 DOF robot (2D position and orientation). The robot is controlled using PID with velocity and acceleration feedforward, including a term of velocity feedback. The experimental results show the high performance of the approach.