A TRAJECTORY PLANNING METHOD FOR A ROBOT TO GRASP A MOVING TARGET

This paper presents a new method of robot trajectory planning to track a dynamic target, whichmoves along a straight line or a planar curve whose mathematical representations are known. It is also dis-cussed that the relationship between the target moving velocity and the minimum approaching velocity of grip-per when the target moves along a straight line. Simulation studies of a manipulator approaching a straight-line moving target are provided.