Near-time-optimal planning method for robotic interception of moving objects

E. A. Croft, G. Zak, G. Hexner, R. G. Fenton, B. Benhabib

Research output: Contribution to conferencePaper


Articulated robotic manipulators play an important role in flexible automation in the workplace. To achieve the objectives of a faster and more efficient robotic work-cell, manipulators must be able to move towards and grasp moving objects in a reliable and efficient manner, without complete prior knowledge of the object's trajectory. A modular, prediction-based motion-planning system for robotic grasping of moving targets is currently under development. In this paper, two modules of the system, the prediction module and the planning module are described and preliminary results are presented. The interaction of the prediction module with the robot motion planning module as well as future developments for the system are discussed.

Original languageEnglish
Number of pages6
Publication statusPublished - 1 Dec 1994
Externally publishedYes
EventASME Design Technical Conferences 1994 - Minneapolis, United States of America
Duration: 11 Sept 199414 Sept 1994


ConferenceASME Design Technical Conferences 1994
Country/TerritoryUnited States of America

Cite this