A Dynamical System Approach for Softly Catching a Flying Object: Theory and Experiment


Catching a fast flying object is notably difficult as it consists of two tasks: extremely precise estimation of the item's motion and control of the robot's motion. Any little imprecision could lead the fingers to close too abruptly and let the article fly off from the hand before closing. We have a tendency to present a method to beat for sensorimotor imprecision by introducing softness in the catching approach. Soft catching consists of having the robot moves with the object for a brief period of your time, thus as to leave additional time for the fingers to close on the object. We use a dynamic system-primarily based management law to generate the suitable reach and follow motion, which is expressed as a linear parameter varying (LPV) system. We tend to propose a methodology to approximate the parameters of LPV systems using Gaussian mixture models, primarily based on a set of kinematically possible demonstrations generated by an offline optimal control framework. We tend to show theoretically that the resulting DS can intercept the article at the intercept point, at the right time with the specified velocity direction. Stability and convergence of the approach are assessed through Lyapunov stability theory. The proposed method is validated systematically to catch 3 objects that generate elastic contacts and demonstrate vital improvement over a exhausting catching approach.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Dynamical Equivalent Circuit for 1-D Periodic Compound GratingsABSTRACT:Metallic compound gratings are studied in this work by suggests that of an analytical equivalent circuit approach so as to get its transmission
PROJECT TITLE :Minimal-order transfer functions of dynamical multi-agent consensus systemsABSTRACT:This study deals with transfer functions of a multi-agent consensus system, composed of identical linear time-invariant dynamical
PROJECT TITLE :Distributed Optimal Control of Multiscale Dynamical Systems: A TutorialABSTRACT:Many complex systems, starting from renewable resources [one] to terribly-large-scale robotic systems (VLRS) [two], will be described
PROJECT TITLE :Introducing the Fuzzy Relational Hybrid Model as a Building Block for Intelligent Modeling of Hybrid Dynamical SystemsABSTRACT:In this paper, a unique intelligent modeling framework is introduced for modeling hybrid
PROJECT TITLE :On the Problem of Minimum Asymptotic Exit Rate for Stochastically Perturbed Multi-Channel Dynamical SystemsABSTRACT:We tend to take into account the matter of minimizing the asymptotic exit rate with that the controlled-diffusion

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry