Experiments in robotic catchingReal-time coordination of visual information with high-speed manipulator control is studied in the context of three-dimensional robotic catching. All path planning for the catch occurs in real-time during the half-second that the targeted object is airborne. A trajectory-matching algorithm is used that combines an observer with a varying-strength filter, an error estimator, and an initial motion algorithm. The results are demonstrated experimentally using a real-time vision system and a four-degree-of-freedom, cable-driven arm with a workspace of 4.2 m3 and speed capabilities of up to 2.0 m/s.
Document ID
19920046447
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hove, Barbara (NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Slotine, Jean-Jacques E. (MIT Cambridge, MA, United States)