Abstract:In this paper, a dynamic system consisting of a robot manipulator and a target is analyzed. The target is considered in a general way as a dynamic subsystem having finite mass and moments of inertia (e.g., a rigid body or a second robot). The situation investigated is when the robot establishes interaction with the target in such a way that it intercepts and captures a reference element of the target. The analysis of target capture is divided into three phases in terms of time: the precapture, "free" motion (f… Show more
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