DocumentCode
2334842
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
fYear
1994
fDate
8-13 May 1994
Firstpage
1588
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351363
Filename
351363
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