Optimal Nonprehensile Interception Strategy for Objects in Flight

Intercepting an object in flight through nonpre-hensile manipulation is a challenging problem, which is aimed at catching and stopping a flying object using little contacts without completely restraining its relative motion to the robot. This paper presents a two-stage optimal trajectory generation method to tackle this problem. At the pre-catching stage, optimal position and attitude trajectories of the robot's end-effector to approach the object are generated by a variational method. At the post-catching stage, the end-effector's trajectories are generated to optimally eliminate the translational and rotational motion of the object and a convex-MPC algorithm combined with admittance control is used to realize the trajectory tracking. A series of simulations and experiments have been conducted to verify the effectiveness of the proposed method.

Authors

• Cheng Zhou
• Yanbo Long
• Ying Cao
• Longfei Zhao
• Bidan Huang
• Yu Zheng 0001

Keywords

• Three-dimensional displays
• Trajectory tracking
• Computational modeling
• Heuristic algorithms
• Force
• Dynamics
• Optimal control
• Translational Motion
• Object Motion
• Trajectory Optimization
• Position Trajectory
• Trajectory Generation
• Robot Trajectory
• Angular Velocity
• Ordinary Differential Equations
• Friction Coefficient
• Dynamic Balance
• Termination Condition
• Quadratic Programming
• Contact Force
• Tracking Control
• Linear Velocity
• Terminal Time
• Coefficients In Eq
• Optimal Force
• Object Velocity
• Optimal Control Theory
• Object Trajectory
• Optimal Contact
• Costate
• 3D Environment
• Reachable
• Velocity Direction
• Rotation Axis