On perfectly plastic impact dynamics of planar multi-link robotic systems contact with the environment

Author

Mu, Xiuping ; Wu, Qiong

Author_Institution

Dept. of Mech. & Manuf. Eng., Manitoba Univ., Winnipeg, Man.

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

1182

Lastpage

1187

Abstract

Impact dynamic equations for planar multi-link robotic collisions are modified, which can model both cases of full-ranked and rank-deficient Jacobian matrices. Rank-deficient Jacobian matrices cause the impact equations to be indeterminate. It is shown that (i) the post impact angular velocities are determined and can be solved explicitly without extra equations, and (ii) a set of linear equations with unknown impulses can be obtained where the impulses can only be solved if extra equations of impulses are provided. Two robot collision problems with rank-deficient Jacobian matrices are presented to exemplify the method

Keywords

Jacobian matrices; collision avoidance; impact (mechanical); robot dynamics; full-ranked Jacobian matrices; linear equations; planar multilink robotic collision; planar multilink robotic systems; plastic impact dynamics; rank-deficient Jacobian matrices; Angular velocity; Angular velocity control; Electronic mail; Equations; Jacobian matrices; Legged locomotion; Motion control; Path planning; Plastics; Robot motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507291

Filename

1507291