Dynamic modeling and analysis of a robot manipulator intercepting and capturing a moving object, with the consideration of structural flexibility (Q1818914)

The authors study the title problem, also known as ``the dynamic mass capture'' problem. Their analysis has three phases: 1) before capture; 2) during capture; and 3) after capture, with particular attention given to the second phase. Jourdain's principle is used to derive the dynamical equations of motion. Simple example problems are presented. The paper is well written and the analysis could be of interest and use to analysts and designers working with robotics -- specifically, end-effector dynamics.