Title :
Impact ellipsoids and measures for robot manipulators
Author :
Barcio, Bernard T. ; Walker, Ian D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
Abstract :
This paper introduces new methods to evaluate the effects of impact and contact forces on robot manipulators. New measures of the vulnerability of any arm to impacts in varying directions are given. Impact ellipsoids corresponding to these measures are defined and analyzed. Examples showing `good´ and `bad´ configurations for contacts and tasks of different types are presented
Keywords :
force control; impact (mechanical); kinematics; redundancy; robots; contact forces; impact ellipsoids; impulsive contact model; kinematic redundancy; manipulators; redundant robot; robot; Ellipsoids; End effectors; Equations; Force control; Kinematics; Manipulators; Orbital robotics; Robotic assembly; Robots; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351363
