Catching moving objects using a Navigation Guidance technique in a robotic Visual Servoing system

Abstract

In this paper, a combination of Navigation Guidance algorithm with an Augmented Imaged Based Visual Servoing (AIBVS) strategy is proposed to perform a moving object catching with fast manoeuvrability. An eye-in-hand vision system is utilized with a 6DOF robotic manipulator. Navigation guidance algorithms are usually exploited in moving object interceptions specially for military purposes such as following and colliding with missile and aircraft. In this paper, we have modified and applied these methods to a robotic system to catch a moving object with different motions. An imaged based catching controller is proposed using a modified navigation guidance algorithm in a robotic visual servoing system. The simulation results are presented for catching a moving object with three different motions of constant velocity, sinusoidal and a thrown object.