Sensor-based online trajectory generation for smoothly grasping moving objects
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
We present a new approach to online trajectory planningfor target tracking, dynamic grasping and catching.The robot executes a geometric controller -- itsimply evaluates a nonlinear function which maps thecurrently measured position and velocity of the objectto be grasped into a current desired robot pose. If therobot tracks these setpoints, it is guaranteed to matchthe object's velocity and acceleration on a specifiedgrasp surface. We develop a geometric controller whichspecifies the...Keywords
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