Online trajectory planning of robot arms for interception of fast maneuvering object under torque and velocity constraints

@article{Chwa2005OnlineTP,
  title={Online trajectory planning of robot arms for interception of fast maneuvering object under torque and velocity constraints},
  author={Dongkyoung Chwa and Junho Kang and Jin Young Choi},
  journal={IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans},
  year={2005},
  volume={35},
  pages={831-843}
}
This paper presents a novel approach to an online trajectory planning of robot arms for the interception of a fast-maneuvering object under torque and velocity constraints. A body axis is newly introduced as a trajectory-planning coordinate in order to meet the position and the velocity matching conditions for a smooth grasp of the fast-maneuvering object… CONTINUE READING