Impact analysis of plane manipulator collision with rough rigid-body

This paper proposes a convenient algorithm to solve the collision problem between the manipulator and rough rigid-body in the two-dimensional space. The kinematics and dynamics model of the manipulator are introduced firstly. Then based on the momentum and angular momentum theorem, the rigid-body impulse model is derived. Numerical integration method is used to structure the impulse model of the manipulator collision with rigid body. As friction model will change in the contact process, Routh´s method is used to classify the tangential impact model of the manipulator and rigid-body system. Finally, according to the different models defined by Routh´s method, the motion of the system after impact is given. And the effectiveness of the proposed method is verified through numerical simulations.