{"title":"机器人拦截运动目标的动力学分析","authors":"J. Kovecses, R. G. Fenton, W. Cleghorn","doi":"10.1109/ICAR.1997.620227","DOIUrl":null,"url":null,"abstract":"In this paper, we develop a formulation pertaining to the phenomena involved in robotic interception of a moving rigid body, when structural flexibility is taken into consideration. Generalized impulse-momentum equations describing the dynamics of interception are developed, using the impulsive form of Jourdain's principle. To evaluate the performance of the interception, a geometric interpretation is proposed; and the first and second dynamic interception ellipsoids and related measures are introduced.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"66 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"A dynamic analysis for robotic interception of a moving target\",\"authors\":\"J. Kovecses, R. G. Fenton, W. Cleghorn\",\"doi\":\"10.1109/ICAR.1997.620227\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we develop a formulation pertaining to the phenomena involved in robotic interception of a moving rigid body, when structural flexibility is taken into consideration. Generalized impulse-momentum equations describing the dynamics of interception are developed, using the impulsive form of Jourdain's principle. To evaluate the performance of the interception, a geometric interpretation is proposed; and the first and second dynamic interception ellipsoids and related measures are introduced.\",\"PeriodicalId\":228876,\"journal\":{\"name\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"volume\":\"66 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.1997.620227\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1997.620227","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A dynamic analysis for robotic interception of a moving target
In this paper, we develop a formulation pertaining to the phenomena involved in robotic interception of a moving rigid body, when structural flexibility is taken into consideration. Generalized impulse-momentum equations describing the dynamics of interception are developed, using the impulsive form of Jourdain's principle. To evaluate the performance of the interception, a geometric interpretation is proposed; and the first and second dynamic interception ellipsoids and related measures are introduced.
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