World Scientific
  • Search
  •   
Skip main navigation

Cookies Notification

We use cookies on this site to enhance your user experience. By continuing to browse the site, you consent to the use of our cookies. Learn More
×
Our website is made possible by displaying certain online content using javascript.
In order to view the full content, please disable your ad blocker or whitelist our website www.worldscientific.com.

System Upgrade on Tue, Oct 25th, 2022 at 2am (EDT)

Existing users will be able to log into the site and access content. However, E-commerce and registration of new users may not be available for up to 12 hours.
For online purchase, please visit us again. Contact us at [email protected] for any enquiries.

MODELING OF EXTERNAL AND INTERNAL IMPULSES IN CASE OF MULTIPLE COLLISIONS

    https://doi.org/10.1142/S021797920804692XCited by:4 (Source: Crossref)

    When a robot system collides with environment, not only the contact point but also the joints of the robot system experience impulsive forces or moments. In the real environment, the structure collides with environment at multiple points. However, most previous modeling methods have assumed one point contact to environment. In this work, we propose external and internal impulse models in case of multiple contact. The case of one point contact is compared to the case of multiple points contact through simulation.

    References

    • I. D. Walker, The Use of Kinematic Redundancy in Reducing Impact and Contact Effects in Manipulator — Proc. IEEE Int. Conf. on Robotics and Automation, eds. R. A. Volzet al. (IEEE Computer Society, 1990) pp. 434–439. Google Scholar
    • H.-T. Liao and M. C. Leu, Robotica 16, 347 (1998), DOI: 10.1017/S026357479800040X. Crossref, Web of ScienceGoogle Scholar
    • Y.-F. Zheng and H. Henami, J. Robotic Systems 2, 289 (1985), DOI: 10.1002/rob.4620020307. CrossrefGoogle Scholar
    • J.   Wittenburg , Dynamics of Systems of Rigid Bodies ( B. C. Teubner , Stuttgart , 1977 ) . CrossrefGoogle Scholar
    • S. H. Leeet al., Modeling and Analysis of Internal Impact for General Classes of Robotics Mechanisms — Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, eds. B. Carlisleet al. (IEEE, 2000) pp. 1955–1962. Google Scholar
    • R. A. Freeman and D. Tesar, Dynamic Modeling of Serial and Parallel Mechanism/Robotic Systems, Part I-Methodology, Part II-Application — Proc. ASME Biennial Mechanismss Conf. Trends and Development in Mechanisms, Machines, and Robotics (ASME, 1988) pp. 7–27. Google Scholar
    You currently do not have access to the full text article.

    Recommend the journal to your library today!