Using machine vision and motion planning technology, smooth catching of moving object in dynamic environment is studied. A tracking algorithm of moving object is designed to realize the smooth catching in obstacle-free environment. To avoid the moving obstacle in the environment, a collision avoidance algorithm is proposed by using repulsive vector, and then it is combined with the tracking algorithm to finish both obstacle avoidance and smooth pickup of moving object. Based on the robot operating system, several experiments are implemented on a 5-DOF KUKA Youbot robotic manipulator. The manipulator can catch moving object smoothly in the obstacle-free environment and the object in the environment with moving obstacle. The experimental results indicate that both the tracking algorithm and the collision avoidance algorithm are very effective to finish the object catching.
ZHANG Chi
,
SHANG Weiwei
,
CONG Shuang
,
LIU Yi
. Motion Planning for Robotic Smooth Catching of Moving Object[J]. Journal of Mechanical Engineering, 2018
, 54(19)
: 10
-17
.
DOI: 10.3901/JME.2018.19.010
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